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How can I steam rice without an actual steamer?

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Tonight, I am making chicken teriyaki with rice and vegetables. I want to steam my rice, because usually, when I cook the rice in a pot... it either comes out not done enough or over-cooked and mushy.

Also, Japanese restaurants tend to steam their rice, and I like it much better than mine.

I don't have any kind of steamer... so how could I steam my rice? Would I be able to without a steamer?

Please be as descriptive as possible, I need to know exactly how to steam rice.