Not in the mood for much action but still want to enjoy yourself? These positions are ideal.

After a busy week of dropping off and picking up the kids, meetings, and errands, sex can feel more like work than pleasure. But getting under the covers doesn't have to be a chore. You might break a sweat, but it'll be drops of pleasure.

Heather Shannon, a certified sex therapist and host of the podcast "Ask A Sex Therapist," is a big proponent of relaxed sex. She acknowledges that most of us are busy and tired, especially mothers. But that doesn't mean we can't connect intimately with someone.

Shannon says that to enjoy sex positions that don't require too much effort, you shouldn't focus on the outcome, like an orgasm. She adds that "penetration" can be done with a finger, sex toy, penis, or strap-on. The choice is yours!

"Focus on the sensations and the pleasure of touch. Let your bodies move slowly and enjoy the sensations instead of rushing through them. Approach this kind of sex like a walk in the park, pausing to smell the roses," Shannon advises.

For busy moms who want to be intimate with their partner without too much effort, comfortable yet satisfying positions can make a world of difference. Here are a few ideas to get you started:

1. Spoon-to-spoon

Shannon says spooning is a great option if you're both tired, because no one has to bear their weight and you can both lie down. The big spoon has easy access to the little spoon's body. Penetration can be as little or as much as you like.

This position is perfect for moments when you want to stay close and connected without expending too much energy. The gentle, full-body contact creates an incredibly intimate and soothing feeling. To make it more exciting, experiment with different angles by adjusting the position of the top leg and seeing how it feels.

2. The Missionary Position

Lie on your back while your partner leans forward, supported by their forearms or a pillow. This relaxed variation on the missionary position allows for eye contact and gentle kisses without straining either partner's body. Use a pillow under your hips to enhance sensations and create a more comfortable position.

3. The Chair Pose

Have your partner sit on a sturdy chair while you sit on top of them. This position allows you to control the pace and intensity, and both partners stay engaged without too much effort.

Add a sensual element by dimming the lights or playing soft music. Using a silk scarf or a bathrobe bow around your partner's wrists can create a playful dynamic.

4. Side by side Face to face

Lie on your sides, facing each other. This position promotes intimacy and connection without either person having to bear their weight. It's perfect for times when you want a gentle, slow experience. Try exploring each other's bodies with your hands or lips.

5. Standing doggy style

Shannon says standing doggy style is comfortable for the body. Lean against a wall or place the upper half of your body on a countertop or raised bed and assume a receptive position while your partner licks or penetrates you from behind.

This position is ideal for spontaneous moments when time is limited but passion is running high. It's quick, exciting, and requires little preparation. Use a mirror to visually enhance the experience, or lean forward slightly to change the angle for more intense sensations. Keep it playful and lighthearted for maximum pleasure.

6. Lying on lap

The giver lies back on a couch or bed, while the receiver lies on top at a slight angle. This position minimizes effort and creates a relaxing, rhythmic experience. It's perfect for moments when you want to feel connected without strain.

Add sensory elements, such as soft blankets or candles, to create a cozy atmosphere. Focus on slow movements to prolong the experience and build suspense.

7. Mutual masturbation

Sit or lie down next to each other and explore yourselves while looking at your partner. This position is intimate, calm, and allows you to connect without physical exertion. It's also a great way to explore each other's desires.

Make it more exciting by using toys, lubricant, or eye contact. Talk about your fantasies to strengthen the emotional and erotic connection.

8. Lying on the stomach

Shannon recommends this relaxing option, called the “lying on your stomach” position.

"You can literally lie on your stomach and not have to move. I think of this as a kind of slumped doggy style, because it can be quite tiring to hold yourself upright in regular doggy style. Here you can just collapse and lie on your stomach on the bed while your partner penetrates you from behind," says Shannon.

In this variation of doggy style, there is no need to use your knees.

ling, making it more comfortable for both partners. It's an effortless way to enjoy deeper sensations. Use a small pillow under your hips to raise them slightly, creating a more comfortable and enjoyable angle. Gentle back massages can make this position even more sensual.

9. The Sofa Spread

Have one partner lean back on the couch while the other sits on it, facing them. This seated position is effortless and allows for eye contact, kissing, and slow, intimate movements. It's especially nice for tired evenings when you still want to feel connected.

Add a playful element by exploring each other's hair, neck, or shoulders with your hands. Use a soft blanket or throw to create a cozy, relaxing atmosphere.

10. The Side Position 69

In this position, you can both receive and give pleasure simultaneously, while lying comfortably. Lie on your side, facing your partner's genitals, and begin orally pleasuring each other. This requires minimal effort and creates intimacy and passion.