The standard variation of the Saint family has the man kneeling with the woman sitting on top while facing him. With mobility in a low kneel being limited, the majority of the penetration distance comes from the woman pushing off with her legs, while the man holds onto her to keep her in place. This can be an awkward motion to get the hang of, so you may prefer to stick with rotating the hips, or seeking the aid of some furniture so that she can make better use of her upper body.
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