Aerobic step! Yes that is exactly what it is lol. Somebody also said to me one day to try the step leading into a shower cubicle but I really don't enjoy shower sex at all for some reason so I've never given that a try. Now that we have the standing position sorted out, we still have height problems with doggy. Even on the bed he is too tall. We try pillows and it works out but he often winds up extremely sore afterwards. We have two new recliner type couches that offer the best height for doggy, but we like to mix the rooms around. A nice thick wooden rocking horse at the correct height would be an ideal portable platform lol.
Well my Daddy is 6'7" and my Mom was 5'4", so they definitely had the height difference to contend with. Unfortunately I know they preferred the kitchen counters, the stairs and random walls throughout the house.