In the early seventies I must have been the only guy with a girlfriend who WASN'T on The Pill...
She taught me a good position; she liked it, she said, because the guy couldn't suddenly decide to 'stick it in' when she wasn't expecting intercourse.
We would strip and sit upright on the bed, with our knees bent and our feet flat on the bed. We were facing each other, and we could touch each others well-exposed genitals quite easily. We would sit there upright and hold each other and kiss. We each had both hands and arms available to touch ourselves or each other.
Sometimes I would hug her with one arm while we kissed and I would jack myself off with my other hand. Sometimes she would be fingering her clit with one hand and hugging me with her other arm.
Usually we'd try not to move too much so that I wouldn't cum, but sooner or later with all the touching and stroking either her or I would cum.