Sit up straight with your legs out straight before you on the floor. Bend your left knee and put your left leg under your right leg so that the left heel is to the right of (and pressed firmly against) your right buttock. Now bring your right leg up by bending it at the knee and place the right foot flat on the ground to the left of the left knee.
 Raise your left arm and twist the upper part of the body to the right until your left armpit is directly over your right thigh. […] Turn your head so that you are looking behind you over your right shoulder. Without straining, twist as far as possible. Then hold the position for about 15 to 30 seconds and return to a straight sitting position.
 Now do the twist to the left, reversing all the above instructions.
 Ram Dass “Remember: Be Here Now”