If we are in bed for the night, as I am reading, him Sleeping, he always reaches a paw out to touch me. Sometimes his leg is stiff and there is pressure from it.

Also if I'm reading after chores, on my bed of course, he will lay crosswise so I can't stretch out my legs. That is when I prop my foot on his back or rear. Sometimes I rub my foot up & down his back. Either way he seems to like the contact. 8-)

After lunch I wanted to read a bit. So we played catch then went inside. He lay across the foot of my bed. Reached out with a paw and kept it on my foot. I did the same with my foot on his other foot. He raised his head to look at me. I looked back and waved my hand to have him lay down his head. He did just that. But then withdrew his feet from under mine.

Amazing dog! He just stuck his back feet towards my leg. Lolol not quite touching. 8-)