It is a matter of time. If you don't have a long period to meditate, don't do it, you'll never reach the state you need for it to be effective. And if you know you have "something to do" next, or that you have a limited time, you'll never meditate softly and gently as it is requested to do.
A good help comes from traditional sitting meditation (zazen) you can use a zafu (a pillow filled with hay or similar) where you can sit properly. Anyway find a position that allows you to stay as you sit for a long time without feeling pain, as if you put legs in lotus or semilotus position on an hard ground, the upper part of your feet will stop letting the blood pass and become unsensible very soon.
You see lots of people in movies and things like these, meditating in very strange and unconfortable positions, under a waterfall or upside down or even worse things, that is because when you perfectly handle meditation, you can be confortable with yourself not depending on your body posture, but that comes after years and years of meditation, we can't expect to do so with one hour when we have time during the week 
my advice (my experience, i'm not able to give advices
) is to try to sit properly but in a confortable way, then to be sure noone will interrupt you, and take all the time you need, better if outside, not in home, some place with a natural connection, and control breathing or practise Yoga or Tai Chi movements as you prefer.
Ride The Waves Of Destiny
Bodhi (Francesco De Raffaele)
Roma Eur Branch
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Pure love is love that is devoid of egoism, of calculation, of any kind of demand.
Explanation about the heart chakra
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Hate is not overcome by hate; by Love alone is hate appeased. This is an eternal law.
Yammakavagga - Dhammapada
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