The Catherine Wheel
Both partners sit leaning back on their hands, facing each other with legs woven together. A playful, slow position with plenty of eye contact.
Both partners sit on the bed facing each other, then lean back and prop themselves up on one or both hands. The receiving partner rolls slightly onto one hip and drapes their legs over the other partner's hips. The other partner shuffles in close and bends one knee up, crossing it over the receiving partner's top thigh so your legs interlock like the spokes of a wheel. With your hips meeting and your upper bodies apart, you move by rocking your pelvises toward each other rather than thrusting. Leaning further back opens the angle; sitting up straighter brings your faces closer for kissing.
Eye contact, a slow grinding rhythm and a break from the usual on-top or underneath roles. Neither partner carries the other's weight.
Lean back on forearms or against stacked pillows instead of straight arms, which tires the wrists. Sit closer together so the legs don't have to stretch so far.
Hold hands across the middle for leverage. Pulling gently toward each other gives the rocking motion a lot more to work with.
Propping on straight arms for long stretches strains the wrists and shoulders. Switch to elbows or pillows as soon as anything aches.
Agree on it before you try it, use plenty of lube, and either of you can stop at any point. This guide is general information, not medical advice.