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Initiating sex & Sex positions

How do you initiate sex besides grabbing his junk? My SO is always the one initiating it and i would like to be the one to start it and make it special.. Also what positions can we do besides standard missionary and doggy, i can't really ride him how i would like to so we don't do that often.. he's also 6'3 and i'm 5'1. Any tips and suggestions??