Scissors
Also called: Scissoring, Tribbing
Legs interlocked like two pairs of scissors, so you can grind against each other.
Both partners lie on their sides or lean back on their elbows facing each other, then slide their legs between each other's so their hips meet. Rock and grind against each other or against a thigh. For penetrative sex, the same interlocked legs work with one partner on their side and the other on their back.
Vulva-to-vulva contact, grinding against a thigh, and slow, shared rhythm. It works for any couple who likes friction over thrusting.
Don't aim for perfect alignment. Most people find grinding against a partner's thigh easier than full hip-to-hip contact. Pillows behind both backs help.
Plenty of lube helps. So does a small toy held between you.
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.