The position I've found that provides the easiest access is missionary with the legs up a bit and pushed a bit toward the woman. This leaves her totally exposed, so it's really as close as the pelvis can get without someone having to amputate their legs.
(Logically it should be the scissors position, but I've had better results with missionary for some reason. It's also more comfortable for the man, so he won't tire as much.)
As a side note, when it comes to sex with virgins (i.e. those new to intercourse), two words should always be kept in mind: slowly, delicately. Avoids "slipping out" and keeps the pain to a minimum.
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