Seat height basic formula: 107% of your inseam, measured on your bike from pedal at bottom of pedal stroke to top of seat. Adjust from there, you may also find that you are more comfortable if you adjust the fore/aft position of your seat, play until you feel comfortable with your seat position. Your leg's greatest strength is in the last part of the pedal stroke so you want to make sure you can do that. However, you don't want to rock your hips to reach down to the pedal, there should be a slight bend at your knee at the most. Even if you don't want to go with clipless pedals and cycling shoes, you should put your feet in the same kind of position as if you were in clipless shoes and pedals, the balls of your toes over the pedal spindle, not the midfoot or heel of your foot. It's like sprinting, you sprint from the front of your foot.