Cowgirl is my favorite by far, but years ago a gf came down wrong and did damage. Too afraid to do that again so doggy or missionary it is. I haven't had a gal ride me in nearly 30 years.
Missionary when her legs are up over my shoulders. Different variations on cowgirl and reverse cowgirl. This is one we like to pull out every so often (the vulgar chair) it's sometimes called.
missionary with my legs up "was" our old stand by-------- as he aged his knees on soft mattress was harder.......