Penetrating Sexual Position

"Most of these positions can be used for either vaginal or anal penetration.
The penetrating partner sits on an area surface, legs outstretched. The receiving partner sits on top and wraps their legs around the penetrating partner. Called pounding on the spot in the Burton translation of The Perfumed Garden.[4] If the penetrator crosses their legs instead, it is called the lotus position.[7] This position can be combined with fondling of both the breasts and buttocks of the receiving partner and the buttocks of the penetrating partner, increasing the chances of both pleasure and orgasm in both partners.
The penetrating partner sits in a chair. The receiving partner straddles penetrating partner and sits, facing the penetrating partner, feet on floor. This is sometimes known as the lap dance. Other receiver-on-top variants can be adapted in this way as well.
The penetrating partner sits on a couch or in a chair that has armrests. The receiving partner sits in the penetrating partner's lap, perpendicular to penetrating partner, with his or her back against the armrest.
The penetrating partner kneels while the receiving partner lies on his or her back, ankles on each side of penetrating partner's shoulders.[4]"