The Rider – position #65 of 100 Kamasutra Sex Positions
Similar to reverse cowgirl, the rider involves the woman straddling the man while facing away from him. She then leans forward and while balancing herself on his knees slides up and down. The man can also control penetration by holding onto the womans waist.
Not too much flexibility required and both sets of hands are free and well place for extra stimulation.