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You probably have seen people meditating in what is known as Lotus Pose. This is where you sit on the floor, in cross-legged position, with the feet resting on top of the thighs. Hands are usually gently resting on the knees.
But this is not absolutely necessary. Advanced students are comfortable in Lotus Pose and it's appropriate for them. Beginners, on the other hand, may find a simple cross-legged position much more comfortable.