Today's Quickie Sex Position
The one who stops at home
Kind of playing off of missionary sex, but Girl has her legs spread wide and she lifts her pelvis off the bed (?) and after Guy enters, Girl controls the thrusting.
This can be a workout, but a pillow under Girl's butt really can help.
Just do what's listed. If Guy isn't hard, a quick blow job or a hand job with a bit of lube should fix the problem. Girl may have more fun if she adds a bit of lube to Guy's man part!
Reference 1 - This video shows the position without using a pillow.