After several years and after the bench got left behind during a nomadic move, In my next home I decided I wanted to begin to sit cross legged, but on a cushion. I was ready to explore all the variations of seated postures I had read about in yoga and meditation articles. Always fairly flexible and recently even more so due to regular yoga practice, I could experiment with half lotus, full lotus, Burmese posture with one foot tucked behind and one in front or both tucked behind sort of like sitting on your haunches while supported from below.
In the end I adopted a simple posture with my left foot pulled in close to my torso and my right placed on the blanket out in front of the first. The knee of my left leg cooperated nicely by folding inward completely and coming to rest on the blanket I put under my cushion. My right knee, the one farther out, didn't have enough flexibility to settle do this and after a few minutes got sore from the subtle twist put on it. I also noticed the unsupported knee gave rise to tension in my thigh as the muscles automatically became engaged holding it aloft. I began placing a rolled up towel under my knee to lift it just a hair above where it was when unsupported. The pain and distraction disappeared immediately. Supporting this knee at its level of comfort was truly necessary if finding stability and lasting comfort was ever going to be an option.
Things evolve no matter what. So in another few years down the road I am now sitting on a lower cushion I made for myself. I now draw my left foot in snug to my torso and then lift my right foot up and gently place it on top of my left. The heel of the top foot nestles nicely into the upturned arch of the lower one. So simple.... and so stable!