Oh one can do it wrong, for sure. For instance, one could ignore the feelings of their partner. One might fail to communicate their own needs properly. However, in a pre-existing relationship, if one commits to listening to their partner and to talking to their partner, the chances of doing something wrong are greatly reduced. Of course, if we play it safe all the time, we will never grow. Sometimes you have to try something new and if it doesn't work, be honest about it. That way, the "wrong" does not become a long-term harm.