In the Wrapped variation of Cradle, the woman wraps her legs around her partner's waist. Having very limited mobility, it is best suited for couples who enjoy deep gyrating and grinding, however women with strong triceps will be able to generate some lift using their arms. By holding him tight with her legs, she is firmly anchored and able to grind her clit against her partner for additional pleasure.
Since men may find this position a little straining on the back, you may want to position yourselves so that he can lean against some furniture for added support. This can also free up his hands to help her with lifting effort, or to just explore her body.