In the Wrapped variation of the Servant, the woman lifts her legs and wraps them around the man's neck. This not only increases amount of skin contact, but also allows the woman to squeeze the man closer when some extra pressure is desired, though most men wouldn't mid you grabbing ahold of his head - as long as you let him break for air when needed. As in most kneeling positions, pillows on the ground will increase the man's comfort, and likely increase the duration he can hold it.
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