I have hip & leg pain too & it hurts to have any pressure put on me. We tried this one and it works for me, no pressure on me & he helps to hold my legs. I lay flat on my back on the bed crossways, with butt at the edge. I lift or he will lift my legs and hold them upright & he can penetrate that way.  Also, this gives good access to all of the sexual zones of both partners without him having to put any weight or pressure on me. I hope this helps. Just know that there are others out here that share in the struggle to enjoy normal things including a healthy sex life again. It is more of a challenge at times. It does help if your hubby is understanding, sensitive to your needs, and willing to try alternatives to just having intercourse. I find we can enjoy sexual pleasure and orgasms by being open to the fact that sex is more than just intercourse. As in oral sex or just using our hands to pleasure each other. Good luck exploring.