AFSHR was conceptualized at the 15th World Congress of Sexology (WCS) in Paris.  Noting the need for a regional body on sexual health and rights, Dr. Uwem Esiet facilitated a meeting the next year in South Africa.   The meeting provided the opportunity for intensive dialogue on the creation of an African regional body with the goal of promoting, supporting and maintaining positive sexual health and rights for all Africans.  The delegates unanimously agreed on the establishment of the Federation as the networking mechanism.

Today, the Federation works to break the culture of silence on sex, promote sexual health as a human right and advocate for policies that promote sexual rights and health, including the provision of comprehensive sexuality education.