Hi Eddie,

Thanks for your question - a lot of people feel this way! 

I would advise you look into getting strap buttons installed by a luthier, and using a strap. The strap takes over a lot of the work of holding the guitar steady, so that you can use your hands and arms to actually play it - without also having to keep it stable.

Once you do get a strap, you will want to experiment with having it be a little longer, a little shorter, and some some of the guitar-holding positions you described. And maybe even try standing up to play.

Hopefully with some exploration you will find a 'sweet spot' where the strap is doing its job, and you are comfortable holding and playing your guitar. 

For me, a strap is a must-have. 

Hope this helps a little! - Lisa