Tell your partner to lie back, propping up his head and shoulders with a pillow, and have him spread his legs slightly. While you're facing the same direction — your back is to his face — lower yourself onto his hardened penis. Put your feet between his legs on the floor or the bed. Take your right hand and place it on his right hip bone and your left hand on the bed next to his left hip bone. Use your hands and feet to move your body up and down on his shaft.