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Have her lie on the bed with her legs hanging off the edge, feet either on the floor or wrapped around you, pelvis on the very edge of the bed. Kneel on the floor and go at it. This will keep you from having to rest your belly on hers since you will be more or less upright. Also use Willravel's idea. You might find penetration easier if you are perpendicular to each other (form a t-shape) to expose her intimates better. The advantage here is you don't risk accidentally penetrating too hard or too fast and causing her the pain that she seems to usually feel from rear penetration.
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