Here's what seems to work best for us...
We have a soft reclining rocker beside the bed and wifey sits in the rocker and leans back and sips on a glass of her favorite wine, while i kneel in front of her spread legs and savor the lovely taste, aroma, and warmth of her wet pussy. Mmmmmm, this usually results in multiple orgasms for her and a great fuck for me later.
mmmmmmmmm can't wait for the next time...