From the Ananga Ranga: The man lies on his back. The woman lies on top of him and inserts his penis. Pressing her breast to his and steadying herself by gripping his waist she moves her hips in every direction.
Great role reversal, usually used when moving between positions as it’s a normal flow on from her on top. Feels very intimate, great for those tender moments!
In control, shallow penetration but it hits the right spot.
Can be fun, again try it with restraints for that naughty twist.
