My DH and I are the same height as you, so I completely understand the request. While not the fanciest chair, we went with the IKEA Poang. First, it's cheap. Second, great height so you can rest your head back. I bought the ottoman too, so it could be a little comfier for late nights. It's a little deep, so a bit harder to always get up -- harder for grandparents than for me. And the cover is washable and replaceable which is nice after all the spit up that happens.