The campaign, created by ethical marketing agency Feel, includes over 10,000 posters and six executions, with slogans such as: "I can do 69 positions, but only one if you don't wear a condom", "My other pillow is on the sofa" and "NO CNDM, NO WY".
The FPA aims to target an older audience of over 25-year-olds, to encourage them to talk more about using condoms.
The campaign also includes 2,000 direct mail packs targeted at health workers and other professionals across the country, including sexual health clinics, NHS walk-in centres, pharmacists and Primary Care Trusts.
Other material includes leaflets with tips for consumers, and in the next stage of the campaign there will be a "Pillow talk" website and real pillowcases with slogans will be handed out to consumers.
Chris Arnold, creative partner at Feel, said: "The idea came from the challenge of how could we get an ad into the bedroom. Using a fun approach has proven to be a highly effective way of getting under the radar and tackling what is a serious issue."
Rebecca Findlay, press and campaign manager at FPA, said: "FPA is hitting an older audience of sexually active over 25-year-olds. Other sexual health campaigns tend to be aimed at young people. Just because people are in their late twenties and thirties, doesn't mean they find talking about condoms any easier."
Findlay added that the campaign covers three target audiences: the condom consumer, the health professional and the health setting.