How do you maintain focus while meditating?

I've been very hesitant to try meditation lately, because every time I try to clear my mind, my brain pulls a Scumbag Steve and starts racing. The fact that I have ADHD does not help this problem at all... I am very easily distracted, and I can't use noise-canceling headphones because I have to listen in case my son wakes up (I only try to meditate when he's asleep).

The point is that I can barely sit still while meditating. If I lay down while doing it, I usually fall asleep.

I either need a way to maintain focus while meditating, or I need another way to "spirit-gasm" as my friends and I call it. I've only been able to do it a couple of times.

Also, the other day I was praying, and I guess I did something different, because I felt myself shift position, but my actual body was in the same position. I seriously have no clue what that was. I don't smoke anything that doesn't say "Marlboro Black 100 Menthol" on the box, so it's not a drug thing. ANy ideas?

Thanks!!