The most common solution is to use the squat bar pad / squat pad support or how some people lovingly call it «pussy pad», which in my opinion is not a good idea. (christianbosse.com)
Body: Polyurethane Foam Pad — 80 %, Polyester Fiber Batting — 20 % Comfort Pads (2): Polyurethane Foam Pad — 100 % Arm Bar Pad: Polyester Fiber Batting — 70 %, Polyurethane Foam Pad — 30 % (us.britax.com)