Posture is very important. If you are in a very uncomfortable position you won’t be able to keep that position for very long. If you sit upright with crossed legs or in an upright chair, you will find it much easier to sit for an extended period of time. Keep your spine as straight as possible but don’t force a posture,
make it easy and relaxed. Many people find keeping their hands on their legs comfortable, one hand on each leg so their hands are not touching each other. Clasped hands can sometimes be a distraction because of the sensory input from our hands to one another. For others clasped hands feel comfortable and natural.
I particularly like to have a pillow behind me so I can lean against something with my back, but that’s my personal preference. The most important thing is relaxing and letting go of tension in your body. If you are not relaxed because of your position, you really need to find out what position will work for you.
I know when I first started meditating the thought of having a straight spine made me feel uncomfortable, but after the first five or six minutes I was able to relax and let go and meditate.