… in other sexual practices.
It is possible to have Vaginal Intercourse even when catheterised. It requires some manipulation of the Catheter and the use of lubrication and a condom to lessen tugging on the tube.
You may have to adjust from previous, familiar, sexual positions to take into account any degree of physical impairment. Consider using pillows for support or even handles attached to wall/bed frame for additional support or help with positioning.