Sit your lover on the floor with his legs stretched out comfortably in front of him. Have him lean back slightly, using his arms to support his weight. With your back to him and your legs straddling his thighs, lower yourself onto him. Keep your knees bent and your feet planted on the floor. With your groins grinding together, squeeze your PC muscles while he makes small circular rotations with his pelvis.
With you on top, sometimes hitting your G-spot can be a little tricky. But turn your back on him (in a good way!) and the whole landscape changes. This position keeps you in control but affords him a much more direct shot at your can’t-take-it-anymore zone. Meanwhile, he can kiss your neck, caress your inner thighs, and stroke other easy-to-access erogenous areas.