Sex Positions whilst Pregnant

I’m currently 23 weeks and me and my husband had sex last night for the first time in a while due to illness / heatwave etc I did some research on positions beforehand so knew about not lying on my back etc but no matter what we tried it was just no matter what we tried it was so uncomfortable and I felt so sore afterwards I tried going on top but the pressure was too much and we couldn’t do it Has anyone else experienced this and what did you do to make things more comfortable?