Kitchen counter height works well for me, although there's also the height of the stones and the height of what I set the stones on to add to it. Kitchen counter height is also what I work with because that's where I sharpen, of course!
My sharpening technique is akin to what others have mentioned; I lock my arms, and get all my motion from my feet or my core; (at least when working the bevels) trying to move forward and back using my arms introduces a rocking motion and makes maintaining a consistent angle difficult. I don't, however, lock my arms at full extension as some have discussed Cosman using, that seems awkward to me. I lock my arms at my side, my elbows bent at a right angle, so my forearms are roughly parallel to the countertop. Seems more comfortable to me.
I think like many sharpening things, it's less right v. wrong, and more what appeals to you for whatever reason, as long as you don't hate it, and then stick with it. Particularly if you're freehand honing, being able to use the same height over and over takes one more variable out of it.
" Be willing to make mistakes in your basements, garages, apartments and palaces. I have made many. Your first attempts may be poor. They will not be futile. " - M.S. Bickford, Mouldings In Practice