I just did 20 regular pushups, yah! I have been doing them on my knees for years because I have not been able to do regular pushups at all.
I did 2 sets of 10. I did not go ALL the way to the floor but went about half way. I am really happy with this because I could not even hold myself in plank position for very long. It is getting rather easy to hold myself in plank position and going about half way down and back up 20 times did not totally kill me. Whihoo!