Hi b869. It's not as complicated as you may think. Meditation is simply the calming of the mind and not being attached to our thoughts. This can be done while sitting in full lotus on a zafu or while sitting on a bench on a busy city street waiting for the bus.
Relaxed breathing is part of it, and it helps to be aware of your breathing, but the important thing is not running away with your thoughts. Pretend your mind is sky, and your thoughts are clouds drifting across. You can let them come, be aware of them, then let them go. Meditation isn't about forcing yourself to have a completely blank mind, or sitting in a full lotus position.
As my Soto Zen teacher says, we don't sit in meditation to find enlightenment, because sitting IS enlightenment.
Gassho, friend. Best wishes.
"Then life must be always defended?"
"The thorn defends the rose. It harms only those who would steal the blossom from the plant."
Kung Fu, Episode 4