This is the simple way to get some sex acrobatics into the bedroom without pulling any muscles. He lies flat with his one leg slightly bent at the knee. You're on top but slightly to one side. You put your knee under his bent one and put your foot flat on the floor, knee straight up in the air over his other leg. Squat, bend, arch and contort to explore and experiment with each other's bodies. If you want zero inhibitions keep the lights very low.
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