The Grope Mountain installation first launched in 2015 at the Museum of Sex in New York, as part of an interactive exhibition that also featured a bouncy castle made of oversized breasts.
While inspired by modern climbing walls, Grope Mountain is covered in holds that have been cast from volunteers' anatomies.
"Climbing walls are perceived as a place for sport, wellbeing and fun, but they can be erotic too," said Harry Parr, co-founder of the design studio.
"Gripping and tugging yourselves up with our sensual holds is this year's perfect date for those looking to show off their strength, stamina and flexibility."
In collaboration with The Climbing Hangar sports centre, Bompas & Parr will be bringing the erotic climbing wall to the UK for the Valentine's Day period – first to London then to Liverpool.
Ged MacDomhnaill of The Climbing Hangar said he hoped the installation would encourage people to engage in the reimagined sport, by bringing the "sense and sensuality" back to the moving body.
"We're delighted to be able to bring our erotic holds back to home turf to allow curious climbers and eroticists to engage in sport reimagined," he said.
"Grope Mountain fuses sport with sensuality, the joy of physicality, the sensation of touch and the delight of the body in strong, elongated postures."
Bompas & Parr was founded in 2007 as a "craft jellymonger" by Parr with Sam Bompas and attracted attention for its jelly moulds of famous buildings.
The studio has since focused on experimental food design and immersive "experiences" for brands. A project for Heinz baked beans combined food and music, and the studio has also developed glow-in-the-dark ice cream for Cornetto.