Low lunge pose has long been recommended for tight hip flexors. These are the muscles on the top of the thigh that tighten up from prolonged sitting. But overstretching in this pose can lead to hip and low back instability and pain. It is important to know the body's limits.
Sitting well is not complicated. It requires common sense and some intuition. When you sit well, your back feels good because your vertebrae have adequate space and circulation. Your breath is slow because your diaphragm elevates and depresses without restriction. Your neck and head feel level and without tension. You are able to concentrate because your eyes are not straining.
Child's pose, reverse pigeon, happy baby... these poses are favorites for many people. They can promote the deep relaxation that comes from releasing the hips.