In the car, I sit on a tempurpedic seat cushion, and it helps a bit. At home, I use a cushion that has a hole where the tailbone goes and this helps a great deal, but it isn't a gd fit in the car. You can find a similar cushion here: http://www.amazon.com/Seat-Solution-Orth...shion+with+hole

I also just sit on my side a lot or "Indian style" and this helps me sit for longer periods of time.

Everything is okay. Trust yourself, and do not live from a place of fear.