I started meditating on a daily basis, now for 1,5 weeks. Already recognize progress. I either go through my body with body scan or repeat a mantra mentally. This one is one of my favorites:

Sat Chit Ananda

Sat: truth, that which is enduring and unchanging
Chit: consciousness, understanding
Ananda: bliss, a state of pure happiness

For shorter meditations I am sitting crossed leg with my hands on my knees or in the lap with a Mudra. I just do this for shorter ones because my legs go asleep. For longer meditation I prefer sitting kneeled with support between my knees, I am using a cushion between my knees and under my buttocks.