There are four pillars and two hurdles of Dhyana (meditation). If you can understand these, you can master the art of meditation. The first pillar of meditation is posture. You cannot meditate properly if you do not have the right posture. In order to stay in the right posture, you need to forego laziness. Meditation in its own right is the state of pure awareness. There is no meditation without proper asana. It is possible that you cannot sit cross-legged or sit in a sidh asana or a Padma asana or sit on a floor. You can sit on a chair but you must sit straight. You can put something in the back to support yourself but you must sit straight. Also, for those who have trouble sitting on the floor can also put a cushion under them. This will help in keeping the back straight.
When we sit cross-legged, we learn to control our apana vayu (downward flowing energy). It is important to sit cross-legged on floor to control our apana vayu.
Listen to this discourse by Om Swami to find out more.
BREATHE / SMILE / LET GO
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