Doc Johnson Titanmen - Master Tool #4 - Triple Ripple Plug - 6.6 in. Long and 2.6 in. Wide - Prostate Stimulating Anal Toy - Butt Plug https://smile.amazon.com/dp/B009NEOGGI/ref=cm_sw_r_apan_glt_fabc_4R2DCFC2W7QX8SHPZZT5?_encoding=UTF8&psc=1
This is a big help and allows a variety of positions and can be used easily in the comfort of your bed or couch.
You can also use plates to get something stable for a toy to stick on.
I like to lay on my side if I'm feeling lazy about it. It allows reach and you can fuck your legs to get good, deep penetration.