Well, seats unfortunately don't really have a height adjuster. They can really only move back and forth. Though some cars have seats that are long and stretch from one side of the car to the other (I hope you know what I'm talking about). If you don't I'm sorry. But if you do, then you should have him/her prop their leg up on the seat onto something (preferably a pillow) that is soft enough that it won't hurt him/her. Then, you can go on your way. Just make sure that their leg doesn't fall off the pillow and the seat! But answering your question a bit better, a van would probably be the best for this.
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