UPDATE: I've found a Keon hands free solution that works better while reclining than all the others I've tried, and I've bought all the official accessories and made a couple of solutions myself.
Stack two of these cushions on top of each other and stick the Keon in the indent. Place the cushions on your thighs and your dick into the Keon and you're ready to go. There are less expensive versions of the cushions on Amazon and those may work too -- but these work perfectly and they are the ones I have. Also, sometimes having the weight of those cushions of your thighs almost feels like the girl is siting on you when in a cowgirl type position.
Try it and have fun!