In the "spoons" position the partners lie on their sides with the man behind the woman. The woman pulls her knees up and lifts one slightly to allow easy penetration. In this position the man is free to caress his partner's breasts and genitals.
The partners can lie facing each other with the woman's legs wrapped around her partners waist. This position leaves the couple free to caress and kiss and the couple can, by changing the position of their thighs, vary the angle and depth of penetration.
If the woman lies on her back with her thighs over the thighs of her partner, he can enter her while at the same time caressing her breasts and genitals.