My wife just started getting into doggy within the last year or so. Before that she's been scared of it cause I'd always hit her cervix and I could never fully insert myself inside her. Recently, she's been able to take all of me without any major pain unless I start thrusing too fast. As long as I go slowly, she says that there isn't as much pain as before. She's also on her face and knees in this position and I think for us that's a good position to be in to minimize her pain and discomfort. Of course, every woman is different, but the point is to experiment.
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