It's important to remember that the sitting position, or the position of your hands, etc. is not somehow key to your meditation. Your mind and what it does or doesn't do is the most important part. Sitting, standing, walking, laying down - find a position that works for YOU where your body lets you just be, and do so comfortably.
If you sit in something like a standard cross-legged, lotus, or half-lotus position, in Zen temples people usually sit on a small and relatively firm cushion about 6 inches tall, called a zaifu. You can use a pillow from the couch folded in half or a rolled up and folded pair of jeans to get the same effect.
For sitting, you want your hips slightly forward, which is what a cushion helps you do. This makes your spine naturally curve forward just a touch, and that sort of lets your torso hang naturally. Find a cushion, stretch, and then spend a few minutes finding the right position that works for you. You should not feel any fatigue or desire to move - that's when you've found your spot. It should feel comfortable and remain that way. (Just be sure not to slouch!)
As
@Sedim Haba mentioned, you can also sit in what's called seiza in Japanese. Sitting with your shins on the ground and butt on the heels. I personally prefer this for any sitting of 20 minutes and less, as it makes my legs fall asleep after that (plenty of people can sit like this for hours). You can also add a cushion in here as well. Seiza benches are also a thing, and are tiny little platforms that take pressure off your legs. If you search online you'll notice that some are leaning slightly forward to help that spine curve.
When you start, be sure to provide ample padding or support for any part of your body that touches the ground. If sitting cross-legged, maybe your ankles, or knees.