The Compendium of Caraka 4.8.7

4.8.7

saṃjātaharṣau maithune cānukūlāviṣṭagandhaṃ svāstīrṇaṃ sukhaṃ śayanamupakalpya manojñaṃ hitamaśanamaśitvā nātyaśitau dakṣiṇapādena pumānārohet vāmapādena strī//

Arising with joy and mutually disposed to copulation, having prepared a comfortable bed that has pleasant scents and is well-spread, having eaten agreeable and wholesome food without overeating, the man should mount with his right foot and the woman with her left foot.