Hi Kristin
I notice that you posted the same question in Trouble with legs a week ago. Oops! ;). There are some great tips in there.
To answer the bit about being flexible: It does help to be flexible to get further or deeper into a pose. Thankfully you don’t need to be flexible to get the benefits. Sure, it can be frustrating that you can’t ‘get’ all the physical markers nailed to get into a pose. Some people spend years trying or may never be able to get the leg wrap. It can have something to do with hip, leg, knee, ankle, or lower back flexibility. And the size and the shape of the legs also plays a part.
Please always aim for best alignment: keep hips parallel to the mirror (or front wall) and keep your body upright. The tips at the other thread will help for sure, especially about keeping the body upright in set-up.
Namaste
Gabrielle 🙂