This is a guided deep relaxation. You can do this lying in bed or lying on the floor. It might be nice to have a rolled blanket under your knees and a pillow or folded blanket under your head. Notice how the more you let go, the more you are supported.
At the end I guide you to sit up-- but if you're in bed and need to go to sleep just roll onto your side, take your earbuds out, and go to sleep :)