The following sequence, which I learned from Jill Satterfield, is a wonderful way to open and warm up the hips.  When practiced regularly, you will notice a positive difference in how your hips and lower back feel.  The hip openers prepare the body to sit more comfortably during meditation practice.  Practice the sequence on its own or at the beginning of a longer practice.  The whole series takes around 15 minutes.

Vajra Yoga Opening Sequence

Standing Mountain

Standing Forward Fold

Down Dog

Lizard

Down Dog

Lizard second side

Down Dog

Pigeon

Down Dog

Pigeon second side

Down Dog

Pyramid

Down Dog

Pyramid second side

Down Dog

Wide Legged Forward Fold

Down Dog

Standing Forward Fold

Standing Mountain