Sanderson-Doyle, of Swindon, denies sexual assault by penetration and sexual touching during an incident in 2016.
The court was told he had responded to an advert on Craigslist.
Jones said there was a video which showed Sanderson-Doyle wearing a balaclava while touching Joanne, who was shackled to a bed.
The video later showed Joanne protesting and Sanderson-Doyle apologising before continuing to touch her.
Jones told the jury Sanderson-Doyle had made “no further enquiry” that what he was doing was “welcome or acceptable” and had only stopped when Young said “No, let go”.
The court heard this had prompted Young to stop filming before showing Sanderson-Doyle the door.
Jones said Sanderson-Doyle had said he believed Joanne had consented and he thought the married couple were “trying to live out whatever their kink” was.
Macksoni, of Sharnbrook, Bedfordshire, has denied one count of rape in 2017.
Jones told the jury Macksoni had been filmed having sex with Young, who was blindfolded and shackled to the bed and whose “less than wholehearted” participation” was “wholly akin to what you might expect if someone were drugged”.
The court heard the video showed Young reassuring his then-wife, whose speech was “slurred and confused” that she was not being recorded.
Jones told the jury Macksoni had “not uttered one word to Joanne Young through the almost seven minutes of recording that he is in the room with her”.
Jones said when interviewed by police, Macksoni had said he believed Joanne and Young had consented.