Butterfly Sex Position
The Butterfly position is at the head of the butterfly family. Its great for the edge of the bed, couch, or just about any edge for that matter! To get into this position, the receiver lays back on just about any edge big enough and plants their feet on the floor, while the penetrating partner stands or kneels between their legs.
This position is very comfortable for both partners, though a pillow under the knees could be useful for a kneeling penetrator.
As visible in the illustration, added manual stimulation can be performed on the receiving partner by either partner without much difficulty... so make sure to try it out...