Although with a slight degree of difficulty with your lady, this sweet-tooth position gets you in way, was deep to your heart's content.
Simply lie on one side facing your partner while she relaxes on her back. Gently position her legs so that one leg is between both of yours and the other, over your waist.
To get the right-angled penetration just right, gently rock to and fro until you're snugly parked. And then get down to business.
Delish or disgusting?
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Giorgio Tsoukalos of 'Ancient Aliens' sure knows his stuff