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श्रीगणेशाय नमः ।
Generally we say the prayers mechanically, because we say them often and they are in the mind already. But in meditation, while doing the prayer we have to overcome the mechanicalness of the mind. The prayer is short but never mechanical and repitative. It is not the repitition of the prayer. The prayer is not based on the memory of earlier prayers. The prayer is now and here, very fresh. Don't ask the question how - just do it and also the prayer is made with love, again no how - just do it. Trying - just try. Trying is the all important thing in meditation.  श्री गनेशाय नमः । I pray to Lord Ganesha with love and devotion, in particular with a sense of self surrender. नमः means surrendering one's self.  

श्री गुरुभ्यो नमः ॥ I pay obescience to the saints and sages of the world, the word गुरुभ्यः is plural and you can expand it to the saints and sages of the world. For they blessed the mankind with the wisdom of the self.
स्थिरसुखमासनम् - we should not assume that आसनम् first and meditation next, we have to understand that आसनम् is very much itself meditation. आसनम्   is not only physical but it is also psychological and finally it takes us to the spiritual dimension of one's self. आसनम् is sthira, stable, the body remains without any moment which means we ignore the urges of the mind to move. Typically, any discomfort in the legs or in the back is endured with a smile, no need to do anything about it, so I may not move on that account. The need to scratch, any itching etc. is also ignored. The need to adjust the throat etc. is also ignored  
to the extent possible. At the same time we do not mentally resist or resent any sound that is around. That is the physical aspect of स्थिर.   Then eventually we will strive to keep the mind still - stable means still, without any activity. And that establishes one's self in one's own being - changeless or immutable being. That is स्थिर   - it begins with body, goes to the mind and then finally one abides in one's own being. स्थिर .   coming to सुख - सुख is not pleasure or physical comfort - सुख is of yoga meaning, keep the hands in the lap, palms upwards the right hand in the left, both hands close to the body without any gap, pay attention to the back, backbone. Stretch it when, do not be very nice to it - just stretch it, avoid taking support of the back. Fix the back and just lock it into position, do not allow it to be curved any more. come to the shoulders - keep them relaxed, do not ask how - just do it. Keep the head straight, not up and not down. Sport a smile on the lips Watch the eyes, release the pressure of the eyelids on the eyes, keep the eyelids lightly closed.  
As I sit like this, the muscles of the face deeply relaxed. The eyes which normally store a lot of stress - slowly relax, the mind becomes cheerfully quiet. The blood circulation to the brain improves. Any little discomfort in the beginning is just ignored, happily. The nervous system is nicely toned up. This is the सुख । The peace, the शान्ति is the सुख ।   They joy of one's own being. This सुख   in the form of शान्ति, peace, should be descriminated from the pleasure coming out of a sensation. This is not sensational सुख - nor stimulation सुख.   It is the सुख on one's own being. स्थिर सुखमासनम् ।  
आसनम् is being. Just be. You need not struggle, you need not scale a mountain. You need not take a single step. Just be. I am. Just be. Being, just being is the simplest thing and also the toughest. For a संसारि, a worldly person, just be is very hard. For a साधक   a striver, gradually it becomes very simple. Just be.  

The confusion in life is two fold, one, being is confused with thinking. See that being is not thinking. See, you see that being is not thinking. The more you appreciate the distinction between being and thinking, the better you will appreciate the glory of being. There is some glory in thinking but the glory of being is boundless. I see being is not thinking.  
second, Just be. Being is not doing. The distinction is obvious, being is ever changeless doing is every changeful. I have to learn not to confuse doing and thinking with being. Being is meditation. Just be. आसन is being.  
ॐ  शान्तिः शान्तिः शान्तिः ॥
Relax - sit at ease but keep the eyes closed, you may move a little. See whether you need to massage the legs