The Deckchair
Also called: Deck chair
One partner sits back on their hands like a deckchair; the other lies back with their legs up over their shoulders.
The giving partner sits on the bed with legs stretched out in front, leaning back and propping themselves up on straight arms behind them. The receiving partner lies on their back between those legs, scoots their hips close until they rest against the giving partner's lap, and lifts both legs up so their calves or ankles rest on the giving partner's shoulders. The receiving partner can hold the giving partner's forearms or wrists for leverage, and the two of you rock toward each other in short movements. Nobody carries much weight: the receiving partner rests flat on the bed and the giving partner leans on their arms. Lowering the legs from the shoulders to the chest makes it shallower; pulling them in closer makes it deeper.
A deep, direct angle with very little effort, and a clear view of each other's faces the whole time.
Sit the giving partner against the headboard or a stack of pillows so their arms are free. A pillow under the receiving partner's hips helps the two of you line up.
Hold hands or forearms and pull gently against each other. It turns the motion into a shared rock rather than one person doing the work.
Deep positions can hit the cervix or press on tender spots. Start shallow, let the receiving partner set the depth, and ease off at the first wince.
A wedge under the receiving partner's hips lines everyone up without anyone straining.
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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.