I found a good anwser on this on YA.
“I’m not a Taurus but I am a Scorpio who has found herself very attracted to two Taurus males. The first I didn’t know what attracted to me to him, we had nothing in common, we shared completely different viewpoints on everything, we got into little spats all the time, but I was still so attracted to him. Now that I look back on it I think it was purely physical/sexual attraction. I’ve done my fair share of reading on just about all the signs over the years and so I know how sexual a Taurus can be, and everyone knows how sexual a Scorpio is. So the thought of us causally dating for a while was a pleasant idea to put it simply. It never happened though, our differences were just too great for either of us.
The second Taurus and I is completely different though. We have a lot in common, in fact we’ve only found 3 things we don’t share in common thus far. The attraction is mutual this time and it goes much deeper than sexual. I think in this case it’s how much we have in common that makes the difference. It’s very hard to find anyone who shares my same viewpoints and opinions and the fact that I have in him is quite nice, I won’t lie. And I know him being a Taurus he won’t budge on any of his viewpoints, which is especially rare and hard to find these days. Someone who won’t give in to peer-pressure and can stand on their own two feet and make up their own mind is always nice to find.
So I think those two experiences really cover what attracts a Scorpio to a Taurus and vice-versa. Physical and sexual attraction even if they constantly butt-head, and same viewpoints and opinions if they actually get along. That’s really the only way these two opposites can attract. Their both very stubborn and they want things their own way, so unless they share the same views and opinions a relationship between the two is next to impossible. But the attraction will sill be there because they are both sexual and both can sense that about each other. If they do share they same views and opinions the attraction becomes stronger and deeper and makes for a long-lasting relationship.
Hope this helps. Much luck