Early morning sex can be quite the feat.
If you wake up in the spoon position, you’re already halfway there. Simply start by reaching back and stroking your lover’s legs and nuzzling against their neck. As your partner responds affirmatively, you can move your pjs to facilitate sex without taking them off.
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While your lover is sleeping on their back, remove your top and straddle them with your legs on either side of their body. Start with kisses on their neck and chest, and then place their hands on your breasts as you begin gently swiveling your hips. When they wake, stop your gyrations for a kiss and to make sure they’re ready to get up (or if need 5 more minutes of shuteye).
The missionary was pretty much meant for morning sex. When you turn toward each other for some slow and sweet early morning cuddles, you can undress each other under the covers before one of you gets gently pulled on top.