The Proposal
Also called: Kneeling, one knee up
Both partners kneel upright facing each other, each with one foot planted as if proposing, holding each other close.
Kneel on the bed facing each other, close enough to embrace. Each partner raises one knee and plants that foot flat on the bed, on opposite sides so your raised legs sit outside each other's and your hips can meet in the middle. Wrap your arms around each other, one around the waist and one across the back or neck. The planted feet give both of you leverage, so either partner can push forward with small, rocking movements. Unlike the kneeling embrace, nobody sits back: both stay upright, which keeps it equal. Height differences are fixed by widening the taller partner's kneeling leg, or by the shorter partner kneeling on a folded pillow.
Slow, standing-height closeness without anyone carrying weight. Good for kissing and for a gentle start to the evening.
Put a pillow under each kneeling knee. If balance wobbles, hold on tighter; that's half the point.
Switch which knee is up halfway through. The angle changes a little and so does the feel.
Hard floors are rough on knees. A folded towel, pillow or thick rug underneath makes a real difference.
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.