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MMD Tutorial Sitting Cross-legged — Description
Japanese culture have people sitting on the floor quite a lot and so I thought it would be nice to show you how to easily pose a model in a cross-legged sitting position.

As an aside I've seen some really bad info being circulated around about how to control the position of the legs when the leg IK constraints are on, so this tutorial also serves to show the correct way on how to control these IK chains without turning them off. It's actually really easy. There is no need to fight the IK constraints to get things done, they are there to help so take full advantage of them.

Specifically:

1. Only move the legs using the leg IK_R and leg IK_L bones.
2. Control the leg angles using the leg_R and leg_L bones.
3. Fine tune the foot using the ankle_R and ankle_L bones.
4. Use the toe IK_R and toe IK_L bones if (and only if) necessary.
5. Switch between local and global orientation modes as necessary to get the desired results; this makes a huge difference in some applications.

You don't ever need to use any of the other bones in the leg in most situations (I never do).