Rugger, a lot of people find lying on their side the best way to start...sort of a spooning position. It's not the greatest for kissing, but it's certainly do-able (pardon the pun). If it doesn't really work for you, that can always be the starting position, and you move on from there in the same session. One of the big pros is there's a lot of body contact. It's very sensual.
Best of luck to you guys.