Have her lie on her back "the long way" on the bed. You lie on your side "crosswise" on the bed. Her legs are relaxed, draped over you with her knees are bent over your hips. Very relaxing position for her, and you have great manual access to the goods, if you follow me. It's slightly rear-entry, but you have a lot of control over the angle.
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Originally Posted by Acetylene
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.
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My lower back hurts just THINKING about that, and I'm not even pregnant!