I steep grains by suspediing them from the top of the brewpot with my big SS spoon across the top. The muslin bag the grains are in is clipped to the spoon so the bag hangs submerged, but off of the bottom of the pot.
I suspend them while the water is cold. Then I hit the burner and bring the water temp up to 160 degrees, and then kill the flame. Toss the lid on top, over the spoon as well. So it sits with the lid cocked a little. Let it set for 30 minutes. Even in this cold (I brew in the garage over a propane burner) it stays close to 155 for 30 minutes if I heat it to 160.