As a kid, you probably sat cross-legged more often than not. Nowadays, sitting like this on the floor may not be your M.O., but getting into the position could really better your posture and soothe the aches and pains in your upper body, so long as you do it correctly.
In the Udaya video above, yoga instructor Rudy Mettia demonstrates how a purposeful sukhasana pose can improve your posture, better your balance and work your core strength. Mettia adds in a twist to help work the spine, which can improve the ease with which you navigate your everyday life.
Be sure to listen to the instructions and modifications offered in the video, and then commit to doing this really simple stretch once a day. You'll absolutely be better for it.