Be left at home with that woman needing sex (7)
I believe the answer is:
inherit
'be left' is the definition.
(to inherit something is to be left it)
'home with that woman needing sex' is the wordplay.
'home' becomes 'in' ('he's home' can mean 'he's in').
'with' is a charade indicator (letters next to each other).
'that woman' becomes 'her' (her refers to a woman).
'needing' says to put letters next to each other.
'sex' becomes 'it' (a common euphemism).
'in'+'her'+'it'='INHERIT'
'at' is the link.
(Other definitions for inherit that I've seen before include "Be bequeathed" , "Gain by succession" , "Receive under terms of will" , "Receive as a legacy" , "Receive from a deceased parent" .)