Missionary sex doesn't get the credit it deserves. It gets dismissed as 'boring' and 'vanilla', when in reality it's a fundamental position in the Big Bumper Book of Bonking!
Missionary position sees one partner lie on their back, whilst the other partner lies on top, penetrating them either vaginally or anally.
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We've called the partner who is lying on their back the HP ('horizontal partner') and the partner who is riding up top the TP ('top partner').