He lays on his side you put your legs over his hip and he goes inbetween. use some pillows to prop you on your side a little so you can breathe and don't cut of the circlulation to your legs. He can touch, see and feel all your girl parts while your at it.
We did cowgirl style, but doggie over the couch arm would work too. We tried that for a little while and it was nice, but he got tired, lol. (The baby was conceived on the couch, so we said wouldn't it be just an illustration of the circle of life if that were the place I started to go into labor? As a result of that act.)