Lap
This is a position that may suggest itself while cuddling on
the sofa. The man sits with the woman straddling his lap, facing
him. She controls the pace, they can kiss and he can caress her
breasts. She moves up and down on him, supporting herself with
her knees on the sofa, and her arms around his neck. If they use
a dining chair, she can keep her feet on the floor and hold on to
the chair back for support if necessary. If she faces away from
him, they will be able to achieve deeper penetration, and she
could support herself against furniture in front of her.