Half Lotus
Also called: The Basket
A looser take on the lotus: the seated partner keeps one leg out straight while the other sits in their lap facing them. Easier on stiff hips.
One partner sits upright on the bed or floor, folds one leg in front of them with the knee out to the side, and stretches the other leg straight out. The other partner climbs into their lap facing them, straddling the bent leg, and lowers down with their own legs wrapped loosely around the seated partner's hips or resting over the bent knee. Wrap your arms around each other's backs or shoulders and bring your foreheads close. The partner on top moves with slow rocking and grinding rather than lifting, since there's not much room to bounce. Having one leg straight gives the seated partner a stable base and spares the hips and knees that full cross-legged sitting asks for.
Kissing, holding and breathing together. It's one of the most intimate positions there is, and this version is far kinder to tight hips than the full lotus.
The seated partner can lean back against the headboard or a pile of pillows. If the bent leg aches, straighten both legs out in front.
Slow down your breathing and try to match it. It sounds simple, and it changes the whole feel of the position.
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.