[drmdvl]

They do take some getting used to
If you're new to German cars.
I would start with proper seating position then adjust as needed:
Seat height should be about 4 stacked finger widths from the top of your head to the headliner. Your seat should be moved forward so that your right knee is still bent with the brake pedal fully pressed (emergency braking pressure) - even closer if you have a clutch.
Your wheel should be forward enough you have a relaxed arm and your seat back should be forward enough you can lay your wrists on the top of the steering wheel without lifting your shoulders and upper back off the seat - this is a fairly forward seating position.
This will also help protect your neck from whiplash in the event of an accident - your head should not have to travel far to the headrest.

Someone else mentioned taking your wallet out of your back pocket - this is great for your hips and low back.

Good luck!