A seated exercise apparatus comprises a frame having a seat attached to the frame. A pair of opposed cranks are rotatably coupled to the frame such that they rotate about a first axis. A first end of each of a pair of elongated members is rotatably connected to the frame at a respective pivot joint. A second end of each of the elongated members is connected to a respective. The pivot joints are located outside of a plane of motion of their respective right and left pedals, such that the apparatus can fit within a more compact form factor, especially in a longitudinal dimension. The pedals move in a reciprocating path having an elliptical shape, in which the major axis is more vertical than horizontal, giving a more up and down, natural, pedal motion.