Here we get a chance to play with Half Lotus, or Ardha Padmasana. Good for beginners especially because this pose can take such a long time to begin to feel comfortable. With continued, gentle effort, you will open your hips and ankles, and even to an extent, knees. Plus it feels great! This pose is excellent for relieving stored tention in your lower body, eventually giving you a firm foundation for meditation. Make sure to balance your stretching on both sides equally. Eventually this may lead to Full Lotus, or Padmasana, in which it is said the legs function as one, contiguous seat.
Another variation for beginners is Sukasana, or Easy Pose. This is simple, classical cross-legged position.
Try either one once a day!