I can’t sit comfortably in a cross-legged pose. How else should I go about doing this? I’ve tried pillows…etc.

Find a position that does work for you. Try a different one each time. In the beginning I did my feet out in front of me or legs off to my side. You can even sit in a chair. Important thing is you are comfortable, grounded (touching earth), and upright to avoid a posture so relaxed you sleep