Have the penetrating partner sit cross-legged on the bed or couch, or floor and the receiver straddle their partner's lap facing towards, legs wrapped around their partners lower back.
But if you or your partner fancy yourselves as Sting then it'll be right up your alley.
From this position, you can also easily lean back farther for some extra G-spot stimulation, and you or your partner have easy access to your clit.
Hot tip: Let your tongue rest firmly and flat against the full length of the vaginal entrance, then have them move and grind against your tongue.