For women who like to be in control, or men that enjoy a little rest, the Cowgirl family might be just what you're looking for. Offering great penetration depth, mobility, and easy transitions to other positions, it's no wonder why so many people consider it a favourite. On the flip side, these positions can be a little tough on the knees and thighs, so you might not have as much fun with some of them if you have any leg issues.
Make sure to experiment with some pillows under the man's rear / lower back. They don't just add comfort, they can help tilt the pelvis for maximum penetration depth! Speaking of which, just because he's lying around doesn't mean he can't help... Thrusting or rotating the hips from below can add a lot to the equation.