Sukhasana is really any comfortable, cross-legged, seated position. It is a good pose for meditation or pranayama practice.
1. Arrange padding under your sit bones so that your hips come above your knees.
2. Come to sit in a comfortable, cross-legged position.
3. Bring one heel in towards your groin. The other foot may rest on the floor in front of you or you may bring it into your lap.
4. Root your seat down as your spine grows long. Stack the shoulders over the hips and slide the shoulder blades down your back. The crown of your head rises towards the ceiling.