Laying my baby across my lap. It really depends on which position you and your baby are the most comfortable with. I find burping her while pressing her on my shoulder really difficult.
True, It depends on your baby. I have tried both of the techniques and even though having the baby sit on your lap is my preference (A lot more comfy than the 1st one) It seems my babe burps a lot faster using the 1st technique.
I used to put my son on a position where it's as if I'm hugging him, letting his chin rest above my shoulder and pressing his tummy on my chest. It's the method I remember that works for him with regards to burping. Gosh, it's been a while! My son is now reaching his pre-teens! Time flies so fast!