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Trouble positining myself during sex. Please help

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im an 18 year old virgin, I've did everything with a girl apart from sex. however, I have attempted to have sex but I have trouble positining myself properly whilst putting my penis into her virgina. I know she can always go on top but I want to be on top of her.

how can I 'position myself properly so I can at least just put my penis into her virgina whilst on a bed'?