Try the CAT (Coital Alignment Technique)
Warning: this will feel awkward for both of you at first. But it’s worth some trial and error if you hit it right it definitely makes the missionary position more fun. The Coital Alignment Technique (CAT) is used as a technique to stimulate more clitoral friction while in the missionary position. You’ll shift and thrust forward so that your penis maintains a vertical angle. Your objective is to keep rubbing the clitoris the base of your penis and her pelvic bone as you thrusts downwards. This will better demonstrate: