For an intimate long session, have your partner sit on a sturdy chair or the edge of a bed. To begin, have her climb on top of you facing towards you, and let her wrap her arms and legs around your waist. Once saddled, have her lower herself onto you and move up and down by pressing your sides with her legs or knees.
Being on top may make her feel a bit self-conscious, however, this position gives you and your partner the best of both worlds. It allows your partner the chance to take the lead, while putting you in control. Have her begin by mounting you, with her back towards you. As you enter her, move your body at your own pace and create an intensely sensual experience the both of you would enjoy.