Lap
This is a position that may suggest itself while cuddling on the sofa. The man sits with the woman straddling his lap, facing him. She controls the pace, they can kiss and he can caress her breasts. She moves up and down on him, supporting herself with her knees on the sofa, and her arms around his neck. If they use a dining chair, she can keep her feet on the floor and hold on to the chair back for support if necessary. If she faces away from him, they will be able to achieve deeper penetration, and she could support herself against furniture in front of her.