Sideways Straddle. This is a somewhat complicated position to get into, but it’s well worth the effort! You may want to practice fully clothed to get a sense of where all of your limbs go before attempting it naked. Have him lie on his back with both of his feet flat on the ground. Crouch over him, with one of your legs between his legs, and the other leg on his side. Gently lower yourself to your knees, and use your hand to guide his penis inside of you.