I do this sometimes when I need a quick orgasm. In the bathroom I take a bath towel and place it over the edge of the counter of the sink. This provides padding. I sometimes take my underwear off but I usually leave it on. I stand so that I am facing the counter. The counter edge is a few inches higher than my clit. I put the palms of my hands on the edge of the counter and prop myself up so my feet are off the floor. I press the area above my clit against the counter with the towel between my body and the counter as a cushion. I lean forward a little and rock back and forth just slightly. My entire body weight is centered right on the area above my clit (not the tip because that would be too sensitive) so I am able to put a lot of pressure there. You have to find the right spot or else it is uncomfortable. I do this and, usually within two minutes or less, I have the most intense orgasm. It looks dorky but it feels amazing!
I discovered this by accident one time when a was really young. I was leaning over a railing and felt a wonderful sensation in my genitals. I did not know what it was and I did not even know what masturbation was then (I was like 7 or 8). I started doing this in other places; wherever I could find something higher than my waist to lift myself up and push against (the side of the sofa, back of chairs, washing machine, dresser, end of my bed, and of course, the sink). I would always do this through whatever clothing I had on. Eventually, I started having orgasms while doing this and got to the point where I would take everything off except my underwear (when nobody was home of course). I always thought that I must be weird and that nobody else did this. It was always my own little special secret.