I've been stretching and preparing for full lotus position for some time now, and recently was ready for getting into it while meditating. It was the first time I actually meditate in full lotus, previously I've been sitting in half lotus position, and the difference is definitely quite vast. It is required to make stretching exercises for some time before becoming ready for the full lotus without straining, aches and risk of injuries. One of my knees was injured during martial art practice many years ago, and was never fully recovered, and so I still have some ache in it, and therefore it is vitally important to be extra careful not to cause more injury by carelessness.
The meditation in full lotus is amazing, the clarity and the focus of the mind is much greater than in half lotus or other positions, and I experience it as pleasurable even. This is truly something I recommend others, but learn to do it properly, do the stretching exercises and let it take the time it needs for your legs to be ready. After a little longer period of meditation in full lotus, I still need a bit of stretching and awaking the legs, before continuing with ritual practice.

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