If you’re sitting on the floor, no matter what position, the key thing is that your hips should be higher than your knees. That lets your back rest in its natural curve which reduces stress and lets you sit longer and more comfortably. A firm cushion or low stool does that.
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A chair, no need to destroy your knees like zen aspirants do.
Standing meditation is also a very energetic option.
Sitting around gathering dust will only get us so far
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