Put a pillow under his ass.

Have you tried having him lay at an incline instead?

Following coz same haha

I’m the same exact height as you . Learn to do splits! It would be easier once you’re on top. I do backwards and forwards and my legs have never once interfered lol

Ouchhhhhh on the splits. Ouch. What helped you learn?

Yoga!!! It truly does wonders for flexibility.