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The posture to meditate is sitting cross-legged:
SN 54.3: PLAIN VERSION
He sits cross-legged and upright, bringing the memory of the instructions before him.
It is not a capricious position no matter how much oriental folklorism it evokes.
What is intended with the posture is to keep the body stable while it is functionally dead. This point rules out positions such as sitting on a chair, or standing or walking. It is difficult to place a fresh corpse in those three positions without it falling off. In addition, it must be allowed to do the exercises fluently, so the lying position does not work.
To remain seated in a stable manner, the base will be made up of crossed legs and an upright body with the spine maintaining its natural curve. When the time comes, the head will fall slightly back and to the right, remaining slightly embedded, supported by the muscles of the right shoulder.
The most comfortable position to cross the legs is with the palm of the right foot attached to the left thigh, and the left leg bent very close to the right but without touching it. To maintain the natural curve, it is recommended to sit on a 30º inclined surface, either on a smooth stone or by making a hole in the sand, sitting leaning on the edge.
The position of the hands is each one on his leg facing upwards and the fingers and tongue, whose touches are especially sensitive, should not touch anything to avoid distractions in concentration.
It is important to sit in a place where the meditator feels safe, is not disturbed, and sometimes it is psychologically interesting to have a tree or a wall behind.