Try this for starters. Use a double column tie around your ankles. Same again around your knees. Now use a single column tie around each wrist leaving a long tail of rope from one wrist. Tie the other wrist to your ankles. Pass the long tail through the rope around your ankles and pull it as tight as you can finishing with it in your teeth where you can finally pull it tight. Now lay back and enjoy the sensation of being restrained.
Restraints that use velcro can be useful and easy to get out of if you're careful.