To answer the question of how he got himself into that table position. This is just a guess.
Watch the part again carefully, judging from the camera angles and motions you will noticed that he lost balance when she jumped onto him. Thus, spining around and ended up in that position.
As for censored... I just hope AT-X will air it uncensored. From this video this is what uncensored should look like =)
http://www.youtube.com/watch?v=QvPNay6U7n8