Practical Reasons
Kneeling makes it easier to reach the ground. For example, during gardening, kneeling gives less strain to one's back than bending. Various knee pads and knee mats are sold to make kneeling during gardening more comfortable.
A kneeled person is much less visible from the distance. For example, in an ambush, one may go from kneeling to sitting in a kind of seiza and back, e.g., to peek out.
Kneeling position also provides more stability due to lower center of gravity.
Read more about this topic: Kneeling
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