The Hinge – position #43 of 100 Kamasutra Sex Positions
This position requires good balance, but once in the rhythm its great for depth control.
The man kneels behind the woman and while leaning backwards uses one arm to support himself. The women kneels in front of him and supports herself on her elbows, allowing her to thrust back onto him. He can then use his spare hand to touch her.
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