For this, you can do either the standard or modified push-up.
I know they can be difficult, so if you need to start out on your hands and knees, don't worry about it.
Work up the strength of your arms, and then move on to the standard version.
Once you've started doing push-ups regularly, you'll be amazed at how many you can do.
Soon you won't even have to think about doing a modified push-up!