You'll have to start with an easy "spoons" position.
For the uninitiated, that means getting your woman to lie on her side so you can sidle up behind her and penetrate at your leisure.
Work up some decent friction to get ready for your next maneuver - a dead member won't be able to carry this off.
Carefully but steadily, flip onto your back, taking her with you and maintaining cock contact. She should now be flat on her back, on top of your stomach.
Although this may be tricky if you're lacking in length or she's overloaded with poundage, for most men this provides the ultimate in sexual stimultion.
Illustrations by: Jethro Quizon