Depends on what you mean by "doing it well." If you mean the sharing of mutual pleasure then yes, there's a certain amount of skill to be learned. If you just mean to insert your genetic material into another person for the purposes of procreation which is basically the only real purpose of our shared existence then no.
I'd say the highest act is either getting stoned out of your mind and going into your favorite bakery and NOT eating anything, or not taking advantage of a really hot girl when she's drunk and at your mercy.
No less of an authority on heroin addiction-and sex,for that matter-than Steven Tyler has said (I'm paraphrasing here) that if the orgasm is the ultimate human experience; than heroin is a close second.