I know you may think Oh! my knees.  I actually get on my knees.  We have
carpeted nursery, rooms, etc.  I sometimes use a pillow on the floor or a
pad that is used for gardening.  It works for me.  Sometimes I sit on the
sofa beside them, if they are using a sofa that is.
Hope this helps.
Darlene Breed RN, BSN, IBCLC