Also from the turn-fast page:

For competitive driving your wrist should be resting on the top of the wheel, with the elbow slightly bent. You should also be able to rest your wrist on the wheel without having to lift your shoulder from the back-seat. This allows for completion of a full turn without delay.

But for the street, I would sit a tad farther back for safety reasons

Or you can be ultra-safe and do the "ghetto lean"h:

Shingo