The Rocking Horse
One partner sits cross-legged and leans back on their hands; the other kneels astride their lap facing them and rocks. A relaxed cousin of the Lotus.
One partner sits on the bed with legs crossed loosely in front of them, then leans back slightly and props themselves up on their hands behind them. The other partner kneels astride their lap facing them, knees on the bed on either side, and lowers down. The kneeling partner rests their hands on the seated partner's shoulders or chest and leads the movement with a slow forward-and-back rock, using their knees for leverage. Unlike the Lotus, the partner on top stays on their knees instead of wrapping their legs around, so they have much more control over depth and speed. The seated partner leaning further back opens the angle; sitting up straighter brings you chest to chest.
Letting the partner on top lead at an easy pace, with kissing and eye contact the whole time.
The seated partner can lean back against the headboard or a pile of pillows instead of holding themselves up with their arms.
Rocking works better than bouncing here. Think of a slow, smooth sway rather than up and down.
Cross-legged sitting is hard on stiff hips and knees. The seated partner can stretch their legs out straight instead; it works just as well.
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.