1. Find a monster you like and hit "F" on them to have them follow you. You'll need at least one penis equipped character to have sex.
2. Hit tab and bring up the follower commands section and select missionary (the only one we have so far). And place the hologram on the ground where you like.
3. Hit e to cycle between the characters for the base position. Hit enter to confirm.
4. Hit e once more to cycle between the characters for the penetrator position. Hit enter to confirm.
5. Use the mouse click and drag limbs of the base character to position then how you like.
6. While hovering over the penetrator character use your mouse wheel to increase or decrease the speed of the animation.
it needs a lot of work before I would consider it polished but the basics are there.