you need a way to get your vagina next to his Penis without your stomachs in the way. You could do a Scissors position. you guys can lay on your sides with your back facing him. He then needs to leans away from you but pushing his hips toward you while you also lean away from him but push your hips back to him. It will almost seem like your laying down and sitting on his lap (or even a laying down doggy style) but your legs will intertwine making like a scissors. This position allows him to get deeper if that is really important for you guys.
Keep an open mind and let the the drive to have sex fuel you
