Some simple ways to make this meditation position more comfortable, while maintaining a steady upright posture

Sit on a Chair to Meditate If Joints Are Stiff

I like to meditate on a chair wherever I am ... how about you?

Also, this is a good meditation when just getting up in the morning before stretching or exercising ...

I also think this is the best way to sit on the chair to meditate and this way is more comfortable than others.

I agree. Every time I meditate on the floor with my legs crossed, my joints start to hurt really bad! So lately I've been meditating on my knees on the floor. Trying it on a chair is not a bad idea though...

Knees are tender and you can get pressure sores there - the chair is better.

I agree that chairs are good. Our wingback chair is great for meditation.

I used to have a wingback chair :-)

Place the soles of your feet on the floor to maintain balance and to keep the mind focused, to avoid dozing off.

Happy meditating!