Sex positions that don't require me to open my right hip, stand, or kneel?

I'm disabled, and more and more I can't open my right hip. Missionary is very painful, I am in constant severe pain, and I have a hard time walking. Does anyone have any ideas on new positions? So far we've been spooning or going perpendicular (don't know what that position is called). There has to be other ways that don't stress his back (he has a bad back) or cause my pain to get any worse than it has to.