You sit astride his hips and more than likely manually insert his penis.
Lower your self gently.
Then once there you can either remain in the upright position and carefully thrust your hips back and forth or you can make small circles with your hips. If you rise and lower then try not to make your movements too big until you are practised otherwise you risk him falling out.
You can lean forward or back as well.
Just keep your hip movements small until you become more skilled.
It also helps if he bends his knees up.
Facing him is easier than facing away from him.