Did the Buddha teach meditation to lay people?

During his lifetime, did the Buddha teach meditation to lay people, or did he teach meditation **only** to monks? Are there any references to this in the Pali Canon or commentaries? It's clear that all Buddhists, including lay people, should gain the Right View by learning the Dhamma , for that is the first step on the Noble Eightfold Path . There are also references in the Pali Canon for lay people to live a virtuous life, for example in the Sigalovada Sutta . However, most of the meditation teachings appear to target monks.