Preference How he takes you - NSFW
They don't go into that much detail but better safe than sorry.
Thorin-
Against the wall holding up your thighs as he ravishes your neck, moaning against your skin and calling you his queen.
Fili-
From behind, his large hands firmly on your hips as he licks and kisses up your back and shoulders, grunting by your ear how much he loves how you cry his name.
Kili-
Missionary holding your legs around his waist. Face to face so he can see the look on your face as he pushes you over the edge and so he can kiss you, whimpering against your lips how much he loves you.
Dwalin-
Reverse cow-girl with his large hands firmly gripping your chest, holding you against his chest as close as he possibly can so he can kiss and nip at your neck and groan in your ear.
Bard-
Normal cowgirl with his hands on your sides as he attacks your skin with pecks and nibbles, occasionally stealing a kiss and whispering sweet nothings.