Tara Brach's free online Mindfulness Daily meditation training class.
She teaches it along with Jack Kornfield. There are forty sessions in the class. She teaches mindfulness meditation with emphasis on feeling and accepting your emotions. The sessions are ten to fifteen minutes long which is enough time for you to feel as though you’ve accomplished something.
After working through the sessions, I feel as though I have a much better grasp of what meditation is and how to practice it. I especially love knowing that things I used to consider distractions, such as sounds and thoughts, can become part of the meditation.
https://courses.tarabrach.com/courses/mindfulness-daily
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You're right that a lot of people have the wrong idea about meditation--and there are different types of meditation. As you wrote, the objective is not to control anything at this stage but simply observe, and to feel the emotions without suppressing them in any way.
It kind of blows some peoples' minds when you suggest to them, "Don't try to make the anger/fear/anxiety go away--become it. Become the fear. Become the anger." etc...
Thanks for the recommendation. I may check it out, as I've lost some ground over the last couple of years. 
My subjective experience is that these skills are like muscles, where you have to keep exercising them or they can atrophy.
