Kamasutra 2.6.38

2.6.38

kuḍyāpāśritasya kaṇṭhāvasaktabāhupāśāyās tad dhastapañjaropaviṣṭāyā ūrupāśena jaghanam abhiveṣṭayantyā kuḍye caraṇakrameṇa valantyā avalambitakaṃ ratam//

When a man supports himself against a wall, and the woman, sitting on his hands joined together and held underneath her, throws her arms round his neck, and putting her thighs alongside his waist, moves herself by her feet, which are touching the wall against which the man is leaning, it is called the "suspended congress."