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Yes there is.

In 2002 a group of French scientists published Magnetic Resonance Images (MRI) of a couple having sex in both the missionary and rear entry positions. This study also included previously published schematic diagrams of penile insertion in both of these positions.

The study with the diagrams is:

Magnetic Resonance Imaging (MRI) of Sexual Intercourse: Second Experience

in Missionary Position and Initial Experience in Posterior Position;

A. FAIX, et al.; Journal of Sex & Marital Therapy, 28(s):63--76, 2002

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Q: Is there a diagram of the penis in the vagina?
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