The receiving partner lies face down with legs together while the other kneels astride their thighs. Snug and controlled, with an angle many people enjoy.
How to do it
One partner lies on their front with their legs together.
The other kneels astride their thighs, facing their back.
Lean forward onto your hands for support and control.
Tips
Legs held together make it snug, and parting them softens it.
A pillow under the lower partner's hips changes the angle.
A snug variation on lying flat: the front partner lies on their stomach with hips raised on a pillow while the other is on top. A tight fit and lots of contact.
One partner kneels on the sofa leaning over its back while the other stands or kneels behind. Spontaneous and comfortable, it makes good use of the living room.
One partner kneels on the bed, sitting back on their heels, while the other lowers onto their lap facing away. Snug and close, with hands free to wander.