Kneeling Embrace
Also called: The Kneel
A kneeling cousin of the lotus: one partner sits back on their heels and the other kneels astride their lap, wrapped in each other's arms.
One partner kneels on the bed and sits back on their heels, knees a little apart. The other partner faces them and kneels astride their thighs, knees on the bed outside the seated partner's knees, and lowers down onto their lap. Both partners wrap their arms around each other, one around the waist and one around the shoulders or neck, chests pressed together. The partner on top moves by rising and sinking a few inches on their knees or by rocking their hips. Leaning back slightly, held by the other's arms, changes the angle; pressing close keeps it slow and intimate.
Kissing, holding and talking. It's as close as the lotus without the cross-legged hips.
A folded blanket under both partners' knees helps on a firm mattress. The heel-sitting partner can slide a pillow between heels and seat.
Let the upper partner hold still while the heel-sitting partner rocks from underneath. It's subtle and surprisingly good.
Hard floors are rough on knees. A folded towel, pillow or thick rug underneath makes a real difference.
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.