I used to do this alot as a kid, but untill today, hadnt done it in years. for some reason i thought id do it again.
What i do is kneel infront of a 2 (or more) seater sofa, and use the gap between the two 'seat' cushions as a pussy. I get a condom, unroll it, put some lube in and then put it on. Part the cushions and put your cock in there as deep as you can, and then let them go.
Its at perfect doggy height, the cushions hold the condom in place and hold tight against your cock, and you and drive in and out of it. keeps everything clean and slick. barring things like fleshlights, its about as close as ive gotten to simulating the feel, and position of real fucking.
I think i cum more times this way untill i was about 16, than any other.