There’s a reason why missionary style is a favorite for most couples. Eye contact provides intimacy, and it's a good position to warm up before moving into something more adventurous.
One of the most popular positions from the ancient Arab text, The Perfumed Garden, the First Posture offers freedom of movement, lots of intimate body contact, and the chance to kiss and gaze into each other's eyes.
In this variation on missionary, he kneels and puts her legs on his shoulder (over the left shoulder is the proper "Cello position") and tries to fuck some nice tunes out of her.