Actually I know the answer is yes. We always do it in bed. Dh always goes on top as I can easily orgasm in that position, but not so easily when I am on top. We have a kiss and bit of a grope first. Occasionally I give him a blow job as part of foreplay. I enjoy sex and dh says he does too (and seems happy enough). We have sex 2-3 times a week. This has been the same for approx 10 years now since we had the dc. It has been so long since we did anything different I suppose I have lost confidence in changing things.