If intimate embrace and sharing intimacy means kids should see their parents cuddling, kissing, holding hands, laying together, flirting, etc then yes absolutely the book is right. That is how you display the way heterosexuality works and insure children don't grow up thinking sterile, passionless, dry marriages are a good thing

If intimate embrace and sharing intimacy means sex, then this author can burn in hell. No child wants to see intercourse and no sane parent wants their intercourse seen