Position yourselves so that the woman is lying on her stomach with her arms and legs spread. She should be in a comfortable position, and may be tied if both partners agree.
Place the tip of the man's erect penis at the opening to the woman's vagina and insert slowly. The opening should be wet enough to allow for easy penetration.
Push in slowly at first to ensure that everything is comfortable and painless for both of you. The woman can raise her hips for deeper penetration.
Move in and out at a pace that is comfortable for you both.