when my wife is on top, she usually is on her hands and knees. And I bend my legs and tilt my hips up a bit. So it winds up being a bit like doggie, except that I am laying underneath her, instead of kneeling behind her.
Usually, in this position, I can thrust fasirly easily. She doesn't have to do any work even though she is on top. It is a pretty versitile position
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