Called Padmasana or Lotus in the original Kama Sutra text, this passionate position is one that, according to Engle, is best done by grinding against your partner for clitoral stimulation, rather than bouncing up and down. If you're on top of your partner you can lower yourself onto their penis or a dildo, or if penetration's not your thing, you can rub up against them for outercourse. Do It: Your partner sits cross-legged (yoga-/pretzel-style); you sit in their lap facing them. Wrap your legs around them and hug each other for support.