OK I did it tonight, as my 20 minutes of meditation. I did have books nearby in case I wanted to read instead, but the 20 minutes flew by. It was a little challenging to get into position - my floor is fairly cluttered - but eventually I figured out how to get there. I have *just* enough room between my bed and my tall dresser which I used as my wall.
My legs got a little sore by the end, but I think it was a good start!