The 'Dock and Lift' position is a popular variation of the classic missionary style, where the receiving partner's legs are lifted and wrapped around the penetrating partner's waist or shoulders. This position allows for deeper penetration and increased intimacy. However, it can be challenging to maintain balance and control, especially when lifting the legs before penetration. To make this position more comfortable and safer, it's essential to communicate with your partner and ensure that both parties are comfortable with the level of support provided. Using props like cushions or stairs can help bridge height differences, but it's crucial to prioritize safety and avoid unstable surfaces like stairs that may lead to accidents. If you decide to use a chair, make sure it's sturdy and can support the weight of both partners. It's also a good idea to have a soft surface like a rug or mattress nearby to minimize the risk of injury in case of a fall. Remember, the key to a satisfying sexual experience is open communication, trust, and mutual consent.