I still have in my bedroom a very comfortably upholstered (but armless) chair which has now done over 60 years of delightful service, both during my married life and since. As a change from copulation in bed I would simply sit on it and my wife (and several other ladies since her death) sat on me and rode me, we both had our feet firmly on the floor and could both make vigorous movements and we both had free movement of our arms for additional titillation of each other. As an occasional `extra` she would say "walk me" and I would get to my feet, with her legs tight around my waist and my cock deeply embedded in her, and walk around the room, joggling her up and down on my cock as I walked; cumming like that (and it did, for both of us) always seemed to have that extra little bit of je ne sais quoi