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Definitely doggy. Easy access, lots of variations, and lets the receiving partner be passive and relax while they get used to it.
IMHO it’s less about position than about preparation. it should never hurt. you should feel confident with your partner and eager to find a good way to get going. there’s quite some guides/tutorials/how-tos online
this seems to be a good one: https://www.pornhub.com/view_video.php?viewkey=646c77b364ae1 but i was actually thinking of this: https://www.pornhub.com/view_video.php?viewkey=ph5e1ad234109e5
For me it worked best in cowgirl/reverse so my partner could go at her own pace to sit down on me. I didn’t do much and just let her do her thing.