Three categories of sexual intercourse are commonly practiced: vaginal intercourse (involving vaginal penetration), anal penetration, and oral sex (especially mouth-on-genital stimulation). Sex acts may also involve other forms of genital stimulation, such as solo or mutual masturbation, which may involve rubbing or penetration by the use of fingers or hands or by a device (sex toy), such as a dildo or vibrator. The act may also involve anilingus. There are numerous sex positions that participants may adopt in any of these types of sexual intercourse or acts; some authors have argued that the number of sex positions is essentially limitless.

History of of sex positions

Sex manuals usually present a guide to sex positions. Sex manuals have a long history. In the Graeco-Roman era, a sex manual was written by Philaenis of Samos, possibly a hetaira (courtesan) of the Hellenistic period (3rd–1st century BC). The Kama Sutra of Vatsyayana, believed to have been written in the 1st to 6th centuries, has a notorious reputation as a sex manual. Different sex positions result in differences in the depth of sexual penetration and the angle of penetration. Many attempts have been made to categorize sex positions. Alfred Kinsey categorized six primary positions, The earliest known European medieval text dedicated to sexual positions is the Speculum al foderi, sometimes known as “The Mirror of Coitus” “a mirror for fuckers”, a 15th-century Catalan text discovered in the 1970s.

Penetrative Sex Positions

These positions involve the insertion of a phallic object(s) (such as a penis, strap-on dildo, plug, or other nonporous object(s)) into a vagina, anus or mouth.

Penetrating partner on top with front entry or Missionary position

The most used sex position is the missionary position. In this position, the participants face each other. The receiving partner lies on their back with legs apart, while the penetrating partner lies on top.