Type100 brought up a number of good advice. But about setting the seat height to the lowest setting, I think that it may not be for everyone and can be a problem with most short drivers, even with the backrest set to almost vertical. I'd adjust it as low as I can possibly tolerate, or without losing too much front visibility.

I'd also want to add that most steering wheels are adjustable in both angle and distance relative to the driver. If this feature is available, use it. However, it should be adjusted last using the wrist-on-the-wheel method, not the other way around.