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You should just go for it!!
I could almost promise you, that you and your partner will become much more closer and comfortable with eachother.
If you do go for it, which I think you should!
I would recommend for you to lay on the bottom, there is less chance of blood flowing when you on your back and he is on top. Also, put a towel underneath you.. just in case
As always, communication is the key and never do anything you do not want to
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