Get into prime cuddling position — with your clothing off. That way, he can slide into you while holding your waist, reaching around to caress your breasts, and squeezing your ass.
Lap dance position.
This is pretty much the same as reverse cowgirl. Except, instead of getting on top of him while he’s in bed, you’ll be doing it while he’s sitting on the couch or a chair.
That means you’ll have your feet against the ground instead of having your legs against the bed.
Instead of positioning your legs on either side of him during missionary, place both legs on the same side and twist your body a bit, so that you’re resting on your side and your ass is in his eyeline. He’ll love it.