This *almost* worked. Bending over and... nah, y'all just cuddle, it's fine.

Princess Zelda presses her the vaginal opening around Princess Peach's cock to push it all the way inside her. Princess Peach takes her hands off of Princess Zelda's legs and grabs her breasts instead, massaging them as Princess Zelda lowers her feet to the floor and leans forward into a sitting doggystyle position in Princess Peach's lap. Princess Peach removes her hands from Princess Zelda's breasts, firmly grabs her hips, and begins to thrust her cock into Princess Zelda's pussy from this new position, pushing Princess Zelda's body forward with each rhythmic pounding of Princess Peach's cock deep into Princess Zelda's cunt.