The Grip
Also called: Legs-crossed missionary
A missionary variant where the partner on top stays up on hands and knees and the receiving partner crosses their legs high over their back.
The receiving partner lies on their back. The other partner settles over them on hands and knees, hands planted by the receiving partner's shoulders and knees on the bed, hips lowered between their thighs. The receiving partner lifts their legs, wraps them around the top partner's waist and crosses the ankles high on their lower back. From there the receiving partner can pull the top partner in with their legs, so both of you share control of the rhythm. The top partner keeps their weight in hands and knees rather than on the receiving partner's chest, which leaves room for kissing. Sliding the ankles higher up the back tilts the receiving partner's hips up and deepens the angle; dropping them to the hips makes it gentler.
Couples who like missionary but want the receiving partner to have more say. It's close, easy and good for kissing.
A pillow under the receiving partner's hips means they don't have to hold their pelvis up with their legs. The top partner can drop to forearms if their wrists get tired.
Let the receiving partner's legs set the pace for a while. A slow pull in, a pause, then release is a good rhythm to try.
A wedge under the hips holds the tilt so the receiving partner's legs can relax around their partner.
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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.