What is your preferred way to sit on the ground (with no chair)?
I tend to sit on my knees/ shins/ ankles, knees fully bent, but eventually my ankles get tired of my feet pointing almost straight back in this position. So then I'll shift weight either left or right, drop one hip on the ground, using both arms to support with my palms on the ground. (Think Disney's Pocahontas at the beginning of 'Just Around the River Bend,' except I haven't silky long hair to blow in the wind.) But I've never gotten good at sitting on the ground for long, and eventually revert to lying down or standing up.
I find the lotus position takes too much of the lumbar curve out of my back for long term comfort. This matches what my PT tells me, and that's to keep the curve in the lumbar region when sitting.
What's your solution to comfortable sitting on flat ground, sans chair, sans rock, sans log?