Doggy is tricky. It has worked best for me in the past w/ my g/f's head down in the pillows and her butt up and out - angle is everything in doggy.
I actually tend to like cowgirl best - if your g/f is having problems w/ motion, you guys obviously need to be practicing more!
You may want to try from the side as well - that position can offer some good access in a number of ways!
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