Make it Sensual - Who says doggy style has to be rough all the time? Make it a little more romantic by opting for a side to side position like spooning or getting into position in the bathtub.
Take Control - Though it sometimes seems like your partner is calling the shots in this position, there's plenty you can do to take the reins. Arching your back more or less will let you control the depth (arching less won't let him go as deep). Or you can reach behind and grab his hips to help control the speed of his thrusts.
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