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        a.  Changing the Angle of Penetration - Missionary
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Position 5
Basic Style: Doggie Style
Variation: Man's legs at edge of bed
Difficulty Level: Easy

Although this appears to be the standard doggie style, notice that the woman's knees are close to the edge of the bed.  This allows the man to move from a standing to a kneeling position and back again as often as he wants.  A simple little trick that provides a quick way to vary positions and the depth and angle of penetration.

 
 
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