It's a standing position, with the man holding the woman up in his arms, with her legs around his waist. Usually wedged against a wall.
I call it a standing lap dance, and I LIKE it a lot!
We tried that position. At first it seems fun, then she becomes very heavy! Her super skinny friend and I did it with success, not to orgasm, but we fucked in the position about a minute before I had to let her down. Would usually wait until she was on top of me, I would sit up with her and turn us to the edge of the bed, and stand up with her. I would try to sit her back down on the bed, but my cock always fell out.