Sex position daughters came to see (7)
I believe the answer is:
visited
'came to see' is the definition.
(I've seen this before)
'sex position daughters' is the wordplay.
'sex' becomes 'vi' ('sex' is Latin for 'six' or VI in Roman numerals).
'position' becomes 'site' (site is a kind of position).
'daughters' becomes 'd'.
'vi'+'site'+'d'='VISITED'
(Other definitions for visited that I've seen before include "Called in (5)" , "Went to see" , "Looked up" , "Saw" , "came to see" .)