I try to squat whenever I need to get low to the ground. I was told a long time ago that squatting helps maintain the integrity of the pelvic floor muscles. It has certainly helped me do that as well as remain flexible.
My friend said I should be squatting with my feet parallel, but I find this very uncomfortable & not very intuitive. It would seem that it is better for the hip joints to have the legs slightly externally rotated.