DVP is one of our passions. The very first time we tried it, it was awkward - mostly because it takes some experience to get positioned for success, and because both of us (the males) were so aroused we came too quickly.
The positions we use vary between a couple of "go to" methods. With a partner who has a long cock, we like to put KK on her back, laying on top of him, and me on top, missionary style with her sandwiched between us. That way I can kiss her, suck on her nipples while we fuck her. For partners who aren't quite as endowed relative to length, we like for one of us to be on the bottom, her in the middle, on top, and the other guy from behind.
We've found the best approach is to start slow, and let one of the guys get settled in her pussy, taking a few strokes, then stopping, to let the other guy penetrate and get wet, then to have both guys pause for a few seconds before finding a rhythm. Lots of lube is also key to success - we prefer coconut oil.
The first few times we did this, both guys (me included) came way too fast. It is such a hot, erotic experience and the sensation is just overwhelming.