You don't need to buy an expensive changing mat. Instead of having a changing table when my grandchildren were babies, I used a dresser which was the perfect height and put a folded bath towel on top. I've also seen suggestions for using a rubber backed bath mat or yoga mat beneath the towel to stop it from moving around and also protect your furniture. Put a basket with diapers, wipes etc. nearby and use grocery bags in a trashcan to discard the diapers.
