One of the most popular sex positions allows a couple to enjoy themselves with a relaxed posture for sex that still provides lots of excitement for both the man and the woman while keeping them relaxed.
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In this way, my head and shoulders are flat on the bed, hips and bottom lifted high. Try dragging an image to the search box.
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A variant of the doggy style position - she is on all fours with her chest horizontal.
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Deep Penetration Pictures - shind.info
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Sex Positions For Deep Penetration - 83 Variants With Pictures
As a variation on this, and depending on the suppleness of the woman's legs, she can raise one leg at a time, so that eventually her heels rest on her man's shoulders.