Can I straddle him by sitting on his lap facing him instead of kneeling?

Can you straddle a guy that way? I love straddling my boyfriend and he loves it to, but I have trouble spreading my legs that far cause he's a pretty big guy, and I LOVE that, but it's not good for straddling him, and I've had hip problems since I was little(8 or 9, although I haven't had any more problems since I was 10) and I think that's one reason I can't spread my legs really far easily, I'm working on my flexibility though by doing yoga.

We've tried me straddling him normally by kneeling a couple times now and the way we tried it the second was in the back of the car and that made it even harder than on the bed and I couldn't even stay like that a full minute, so can I straddle him by sitting on his lap facing him instead of kneeling? Does that still count as straddling?

and would that maybe help some? Cause when he picks me up I can wrap my legs around him pretty easily, so I was thinking that if I sat like that it would help.
Can I straddle him by sitting on his lap facing him instead of kneeling?
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