It seems that everyone involved gave consent, so in this case, they are not illegal
Just as an example, in case of a car accident in Japan, the blame (and thus damages/fines) is almost always shared (even in completely obvious situation where we would see one party 100% at fault), especially so when a passenger other than the driver was hurt - just so the driver in question wouldn't loose his face completely. 'Being there' at the wrong moment is enough to be partially blamed for what happened. There's something to this you know - if an incident is potent enough to destroy someone's social status, it often might be better for society to let it slip, rather than to go the 'nuclear option' (i.e. the American way) of throwing people in jail, make them loose their job, possibly their family, or even take away their children. With marriages it's similar - husbands/wives often rather don't want to know rather than to risk a family's stability.