Still, regular practice does offer the best long-term benefits.
It should be noted that people with severe back pain should not attempt to use yoga for symptom relief.
Stand with your feet together.
As Cadell notes, doggy is a deep and thus intense position, especially if your partner is well-endowed, so you might need a little more time getting excited.
Lastly, keeping your hips raised, rest your head and arms on the bed.
May your life be blessed with yoga.