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if you can't do doggie style but love the sensation, have him lay on his back and you sit on his lap facing away from him. you won't get the strong thrusting you could have in doggie style (unless you can REALLY bounce!), but it's a good substitute.
as someone else mentioned, try doggie style on your elbows rather than your hands. you might even try putting a pillow or two under you for support and not resting on your hands or elbows, allowing your torso to be even lower.
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