Great Sex Positions: the yoga pose
With you and your man both seated for this position, sex has never been so comfortable...
This is a fantastic position for you to gain maximum control, as you're on top and get to call all the shots over depth of penetration and speed of thrust! It's also great if you're taller than your man, as height is not an issue in this position.
Get your guy to sit with his back against the wall and his legs crossed in a traditional yoga/meditation pose. The straddle his lap with your legs either side of his and lower your vagina down onto his erect penis.
Thrust for a few minutes in this position to get you both naturally wet, then wrap both of your legs around his waist and put your arms around his neck for leverage before thrusting and kissing once more.