Almost everyone with a dick has been in bed with a boner that is just not encouraging at some point in their life.
Don't freak out or blame yourself and just figure out a different way to have fun. Below are some sensual positions to try.
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You sit on his lap and leaning back, so your head is hanging down toward the ground. He strokes your clit with his thumbs and tantalizes you with his penis. If his penis happens to gets into it, he can start jerking himself off too or pull you up on his lap for seated cowgirl-style sex.
Try doggie position with your legs spread extra wide and if he loses his erection, there are benefits. He can pull out to stroke himself or he can continue penetrating with his finger on the underside of his dick acting as kind of a splint. If it's still just not happening, have him hold his well-lubed penis against you and keep thrusting.
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First, he slips a cock ring around the base of his dick. The ring should keep him swollen long enough for a proper toss, but he shouldn't keep it on for over 30 minutes. Get on top, leaning down on your elbows so you can press yourself against the vibrations.