I will do all of it prone, with bipod and rear bag. I avoid shooting benches like the plague. They are designed so a$$ backwards, that I don't even think a shooter designed them. It's pretty much impossible to employ the fundamentals to full effect when shooting from one, unless you do modified prone. Whoever designed them should get shot.
Once I'm in position, I'll pull the bolt (I'm assuming this is the first time the scope has been mounted on the rifle), look down the barrel and make sure the scope and bore are more or less lined up.
Take a shot. See where it ends up on paper, reference it to the reticle. So I will see in the reticle how far off on the horizontal and vertical plane it is in mils in relation to my POA. Say ~2 mils left, 0.5 mils down. I will make the corresponding adjustments on my scope turrets.
Take another shot, see where the POI was in regards to POA (same as above, but should be a lot closer, if not already on the "bulls"). Make any adjustments if needed.
Shouldn't take more then ~3-4 shots to get sighted in, unless you have something funky going on. All done at 100 yards.
I wouldn't ever recommend to sight in with a lead sled or such device. How you interface with the rifle will impact the POI. How you line up behind the rifle, your cheek pressure, your shooting hand pressure, your bag technique and hand pressure, how you load into your bipod, etc. are all going to influence the POI. Putting your rifle in a mechanical device will NOT account for your bodies influence on the rifle and the POI, which you need to account for (unless you ONLY shoot from a rest).