I'm an ACA-certified canoeing instructor - not kayak - so what I say here comes from a body of partial knowledge.
Leaning the boat with a single-blade paddle reduces wetted surface in the ends, thus making the boat more maneuverable. It also changes the underwater hull shape such that the boat wants to turn to the offside. This is fine as long as you stay on one side for a while; you will adjust your strokes to compensate for this tendency to turn.
If you rock the boat side to side using a double paddle, you'll do several things:
- destabilize the boat and increase your risk of a capsize;
- increase the amount of drag in the water due to turbulence; and
- induce a slight turning action each time you lean the other way.
This isn't exactly the most efficient way to paddle.
I strongly recommend paddling the boat flat. You can do this by leaning your torso slightly away from the onside. Also:
- Get as much torso rotation as you can. This protects your shoulders. Rotate 45 degrees into the catch, rotate 45 degrees back again through the power phase, and then rotate another 45 degrees through the correction phase, if there is one.
- When you aren't in the boat, practice torso rotation in your upper and middle back. Don't rely on your lower back to be flexible enough to take the full 90 degrees of rotation unless you also do yoga.
- Kneel in the boat. That way you'll use the strong muscles of your legs and butt to maintain your position, which is easier to begin with because your hip angle is more open. Sitting involves a more closed hip angle which leads to the lower back sagging. It also uses the abs to maintain posture, and they're a lot weaker than the quads and glutes.
End of lesson.