On the floor
The most common ways of sitting on the floor involves bending the knees. One can also sit with the legs unbent, using something solid as support for the back or leaning on one's arms. Sitting with bent legs can be done with the legs mostly parallel or by crossing them over each other.
A common cross-legged position is with the lower part of both legs folded towards the body, crossing each other at the ankle or calf, with both ankles on the floor, sometimes with the feet tucked under the knees or thighs.