Well i make my DP do his thing with help of some toys first which gets me off and then when im done we have sex, i hate missionary as i get paranoid hes gonna squash her so instead i kinda put my legs up over his shoulders and he does his thing. You can do this on the side of the bed if DP/H is tall/er cause it works better. Doggy is my fav but i cant do it lately cause it is really uncomfortable.
Anything is worth a try, i'd just experiment with lots of different positions.