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The Buddha taught people according to what interest them. Maybe, there were few lay people interested in meditation while still enjoying lay lifestyle then.
Though there is no record of such meditation suttas teaching to lay people, I believe a few excellent lay disciples received meditation guidance from the Buddha. For example, there is Uttarā Nandamātā who is described as "the best of women disciples in meditative power (jhāyīnam)". There is also Citta the Householder who is well-versed in meditation. There is a whole fascinating Samyutta about him.
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It is said that there is no sermon without meditation. There were no buddhist monks when the Buddha attained enlightenment. The usual pattern is that the Buddha would preach the Dhamma to non-Buddhists and their minds would focus to a certain Dhamma teaching. In other words, they would meditate on the Dhamma, attain enlightenment or gain sufficient confidence and subsequently enter the order.
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In the most well-known teachings to laypeople, there is no mention of meditation (satipatthana); such as in DN 31; SN 55.7; ; MN 60 (in which meditation is only mentioned after going forth as a monk); AN 10.176; AN 3.65.
In SN 56.11 (the first sermon), it is explicitly said the Noble Eightfold Path was for those gone forth from the household life, as follows:
Bhikkhus, these two extremes ought not to be cultivated by one gone forth from the house-life. What are the two? There is devotion to indulgence of pleasure in the objects of sensual desire, which is inferior, low, vulgar, ignoble, and leads to no good; and there is devotion to self-torment, which is painful, ignoble and leads to no good.
The middle way discovered by a Perfect One avoids both these extremes; it gives vision, it gives knowledge, and it leads to peace, to direct acquaintance, to discovery, to nibbana. And what is that middle way? It is simply the noble eightfold path, that is to say, right view, right intention; right speech, right action, right livelihood; right effort, right mindfulness, right concentration. That is the middle way discovered by a Perfect One, which gives vision, which gives knowledge, and which leads to peace, to direct acquaintance, to discovery, to nibbana.
In the modern West, most so-called Buddhist meditation for lay people is about accepting defilements rather than rejecting defilements.
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I accidentally came across a sutta with recommendation for householders to allocate periods for meditation. The Buddha gave this advice to Anathapindika the householder, in the presence of 500 lay followers.
From Piti Sutta (AN 5.176):
Then Anathapindika the householder, surrounded by about 500 lay followers, went to the Blessed One and, on arrival, having bowed down to him, sat to one side. As he was sitting there the Blessed One said to him, "Householder, you have provided the community of monks with robes, alms food, lodgings, & medicinal requisites for the sick, but you shouldn't rest content with the thought, 'We have provided the community of monks with robes, alms food, lodgings, & medicinal requisites for the sick.' So you should train yourself, 'Let's periodically enter & remain in seclusion & rapture.' That's how you should train yourself."
Piya Tan wrote in his commentary on Piti Sutta that:
Until recently (even up to the late 20th century), there is a common wrong view that spiritual training, especially mental cultivation or meditation, is only the domain of the monastic. The laity merely makes merit by serving and supporting the monastics. However, it is clear from the Pīti Sutta here that spiritual development by way of mental cultivation is just as important for the laity.