Fingerpicking generally is the 3 bass strings are picked by the thumb(p), and the 3 treble strings are picked by index(i), middle(m) and ring finger(a). The thumb and index fnger is pretty crappy technique but if it works for you, all the better. The most relaxed posture is to have the hand so that the front(part opposite your palm) just out of view facing away.

Personally, Ive always found fingerpicking easier, even before I learnt classical guitar. Felt more natural.