If convicted, Cosby could spend the rest of his life in prison, the AP notes.
Bill Cosby's accuser Andrea Constand leaves the courtroom after closing arguments in the Cosby trial at the Montgomery County Courthouse in Norristown, Pennsylvania.
Cosby says they enjoyed a mutual "petting" session.
Steele, continuing to address defense statements, said a "romantic interlude" did not exist between Constand and Cosby.
"It's amusing, she had selective amnesia for everything I asked her", he said, urging the jury to employ "common sense" in reaching its verdict.
The Pittsburgh-area jury has been away from home for more than a week and was in the courthouse for about 14 hours Monday through a brief defence case and closing arguments.
Last week the prosecution spent days laying out the case against Cosby, calling 12 witnesses to the stand.
Legal experts said testifying would have been a risky move that could have opened the TV star to withering cross-examination about some of the 60 or so other women who have accused him of drugging or molesting them. Cosby pleaded not guilty to three charges of aggravated indecent assault, a second-degree felony. "Because of what he wanted", Steele told jury members.
Constand initially told police about the alleged assault in January 2005, a year after she says it took place.
She woke up on the couch with her clothes disheveled, she said. "What's she going to say tomorrow?" he said.
The defense has focused on inconsistencies in Constand's statements about certain details of the alleged assault and pointed out that she remained in contact with Cosby for months after the night in question.
McMonagle offered a narrative in which Constand had a consensual encounter and was not planning on making a charge - indeed, she had been contacting Cosby, the attorney said, to continue their relationship.
Cosby's wife, Camille, appeared in court for the first time Monday morning, entering and exiting on her husband's arm and sitting through McMonagle's closing argument.
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Cosby was painted as a predator and callous manipulator by the prosecution, while the defence portrayed him as a lover and kindly mentor. She sat in the front row, across the aisle from Constand.
"When you dance outside your marriage, you have to pay the band", McMonagle said. "And she deserved better!" He is accused of drugging and attacking Constand, now 44, at his Pennsylvania home.
Phone records showed she made no such call in January, he said, and instead show she only called Cosby's phone numbers in NY.
Constand, under the influence of the drugs and who briefly lost consciousness, could not and did not give consent, he said.
"This isn't talking to a trustee, this is talking to a lover", he said. Mr Steele said Mr Cosby, a Temple University trustee and the university's most famous alumnus, set his sights on Ms Constand, an employee in the university's athletic department who was 36 years younger than him.
During closing, McMonagle repeated to the jurors that Cosby's life is in their hands. Cosby told police he succeeded. "This is not a civil case about money, money, money".
" 'We're not ideal, are we?' he said, pausing and looking at Camille Cosby, 73".
McMonagle's tone became tinged with anger as he stressed Constand's misstatements to police about the day of the assault.
District Attorney Kevin Steele's closing arguments were businesslike and direct. He says he gives her drugs. "They'll take the edge off", Cosby told her, she testified. It was then that a new prosecutor made a decision to charge him. The jury also heard Cosby's version in the form of his police statement and his lurid deposition in her 2005 lawsuit.
"Just tell the truth - what are we doing here?" he continued, one of many exclamations he made in a fiery and at times histrionic closing that lasted almost two hours.
Steele also reminded jurors about a telephone conversation in which Cosby apologized to Constand's mother and described himself as a "sick man".
"This is where all the fancy lawyering can't get you around your own words", he said. He also said he had previously obtained Quaaludes, a powerful sedative, with the intention of giving them to women with whom he wanted to have sex.
Cosby later told police the pills were Benadryl, an over-the-counter cold and allergy medicine.
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