The Lap Crouch
Also called: The Frog
One partner sits on the edge of the bed and the other crouches on their lap, feet planted, knees up to the chest.
One partner sits on the edge of the bed with feet flat on the floor and thighs together or slightly apart. The other partner faces them and climbs into their lap in a crouch, feet planted on the bed on either side of the seated partner's hips (or on the seated partner's thighs if that feels steadier), knees drawn up toward their own chest. Arms go around the seated partner's neck and shoulders for balance. The crouching partner moves by pushing up with their legs and sinking back down, while the seated partner holds their waist or under their thighs to help lift. Leaning back against the seated partner's hands opens the angle; tucking in tight against their chest makes it deeper and closer.
An intense, wrapped-up position where the partner on top controls depth completely and faces stay inches apart.
Kneel instead of crouching, knees on the bed beside the seated partner's hips, and you have the gentler lap position.
The seated partner can help by lifting under the thighs on the upstroke, which saves the crouching partner's legs.
Bad knees should skip the crouch. Coming down too fast can bend a penis painfully. Keep it controlled, and keep the seated partner's feet planted for balance.
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.