According to a Yoga Instructor, These Are the 56 Most Essential Yoga Poses

Sanskrit Name: Padmasana

English Translation: Lotus Pose

• Sit on your mat with your legs extended in front of you. Bend your right knee and place your right heel up by your left hip bone. Then carefully bend your left knee and pull your left heel over your right shin and place it by your right hip bone.
• If you feel pain at all, come into Half Lotus, with your right heel pulled up to your left hip, and your left foot on the ground under your right thigh. If Half Lotus also causes discomfort, just sit cross-legged with your ankles under opposite calves.
• Stay here for 10 deep breaths.

Here's another way to get into Lotus Pose.