We recommend penetration before this procedure starts for those with average strength, but if the penetrating partner can manipulate the receiver's body with ease, penetration can happen after the receiver is already lifted.
Alternatively, if the penetrating partner has a lot of quad strength, the penetrating partner can stand in front of a tall desk that the receiving partner is seated on top of. The receiving partner then wraps their legs around the penetrating partner, and the penetrating partner hoists them off of the desk, coming to stand upright.
More About Standing Missionary Position
The Standing Missionary can be a very intimate and satisfying position if it is done successfully.
However, it can be a very awkward position to achieve if there is a significant height difference between partners. You can help this by getting the penetrator to bend their knees to help ease in the penis or supporting the receiver around their back when trying to penetrate.