Help my daughter sit on the furniture

Our daughter has dwarfism and is 1‘5“ tall and 18 pounds, and she is six years old. at our house, the furniture is regular sized, but for Clara it is like oversized furniture. We would like some thing for her to be able to get up onto the couch. Right now she has to really struggle just to climb up. And when she finally does get up on the couch she doesn’t really fit because it’s way too big. Is there something that could get her up sitting high enough to be level with us and also fit a little more securely? Kind of like a booster seat, except a traditional booster seat would still be really low for her, and one that is that is a little more couch and comfortable like. And preferably all of this she can get up into her self.

Also yes I posted this before but that was in a huge list of other questions so wanted to make a specific post for this.