Not trolling so bare with me!
I've never been that adventurous in bed, preferring a quickie in missionary than anything else. I can probably count on one hand the amount of times I've been "on top" in my entire life and that was only because I was pressured into it.
Now, for the first time in my life I've found someone I actually LIKE having sex with. I want to go all out and have a good sex life and I feel like I want to be a bit more adventurous 
My question is probably really ridiculous but here goes - if I initiate sex - with an aim to going on top - do I 'ask' him first before I go for the penetration or just do it? I'm assuming he'd make it obvious if he didn't want to right?
As you can see, I'm a total beginner when it comes to being the one 'in charge'.
Try not to laugh too much at me. Cheers.