The Sphinx
A lower, more open take on lying flat from behind: the receiving partner props up on their forearms with one knee drawn out to the side.
The receiving partner lies on their stomach and props their upper body up on their forearms, like a sphinx, chest lifted and elbows under the shoulders. They bend one knee and draw it up and out to the side, keeping the other leg long and straight behind them. The other partner lies over them from behind, legs stretched out alongside, and holds themselves up on straight arms with hands planted beside the receiving partner's ribs. The bent knee opens the hips and the propped chest tilts the pelvis, giving a deeper angle than lying fully flat. Drawing the knee higher opens things up even more; dropping onto the chest makes it softer and slower.
A deep, close angle from behind with plenty of body contact, and less strain on the receiving partner's knees than doggy style.
Put a pillow under the receiving partner's hips or chest. The top partner can lower onto forearms to save their arms, as long as they keep their weight off the person underneath.
Switch which knee is drawn up halfway through. It shifts the angle to the other side.
This one is work for the top partner's arms and shoulders. Rest on forearms or switch positions before anything burns.
A wedge under the hips holds the angle so neither of you has to work for it.
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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.