I'm not sure if this one would be more painless but you couldgive it a go anyway
" In this position the man lies on his side, with his knees bent while the woman lies on her side, with her back pressed against his front, her legs slightly parted, her hips tilted to one side, and her knees bent. They line up to align his penis with her vagina, and his penis is then guided into her vagina from the rear. It is also possible to use this position for anal sex rather than vaginal sex. This position allows for a great deal of physical intimacy, as the full-body contact allows both partners to cuddle and caress one another."
Enjoy
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You can do with a friend that which you cannot alone. 
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