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When my boyfriend is on top during sex...

So basically during sex I like to be in control but sometimes I want my boyfriend to take over to and I want him on me but every time I try with him on top of me on my bed, I don’t really feel anything. Like what should I tell him to do differently? All he does is stick it in and kinda grinds on me and tbh it kind of hurts. How should I help him?

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