Quality of sex from behind depends on the man. But, If the woman can adjust properly, she can take control of the depth penetration.
Steps to perform:
Step 1: The woman distributes her body weight on her arms and knees equally.
Step 2: The level of arms should be above the knee level to give the body a little slanting position.
Step 3: Now the man comes from behind and penetrates firmly.
Step 4: The woman simply hooks her legs around her male partner.