Well the bible speaks against, incest, adultery, and bestiality. So I guess leave the dog out of it.

But there is definitly some advocacy for sex. The bible says "do not deprive each other of sexual relations." And you may have heard about the pastor issuing the 30-Day Sex Challenge to his congregation recently (that made it to national news for some reason).

More practical advise would be to build up some arm strength/endurance for getting her off while twisted in fun positions where you can reach.

Also I find it ads novelty to change location. You have a whole house/apartment use it.