The Perch

Set a solid, non-wobbling stool, step or low bench against something that won't slide. The receiving partner climbs onto it facing away from their partner and crouches with feet flat on the seat, knees bent and apart, then leans their chest forward and rests their hands on their knees. The partner behind stands close on the floor and holds the receiving partner's hips with both hands, which steadies them as much as it guides movement. The seat height should put the receiving partner's hips level with the standing partner's; adjust with a thicker or thinner cushion. Leaning further forward tilts the hips up and deepens the angle; staying more upright is easier on balance and gentler.

A bold, deep angle where the standing partner has full control of rhythm and the receiving partner simply holds the crouch.

Put the stool near the bed or a wall so the receiving partner can brace a hand on it. Kneeling on a padded bench instead of crouching takes most of the strain out of the legs.

Agree on a word for 'I need to come down' before you start. Crouches tire the thighs faster than people expect.

This needs good balance and strong legs. Use only a stable, solid seat, keep the standing partner's hands on the hips the whole time, and skip it with bad knees.