Adivce

Hi there, so i am just wondering if there is any advice out there for how me and my boyfriend can try different sexual positions whilst having intercourse? The only position we have found that works for both of us is missionary, however i have to have my hips raised by pillows, abd after a couple of minutes my legs start to really hurt. We have tried a few different positions, such as dogfy style and cow girl, however we have found these to be unsuccessful as we are unsure how to make it work. Thank you in advance :)