I do not immediately do this "gently touch legs" move. Most cats don't need it. But if a cat is obviously very comfortable with your crossed legs but just can't seem to get those back legs up onto you lap, you can pet and GENTLY touch (no pressure) the back legs. Notice how I don't just go straight to touch the back legs but do a light no pressure petting motion to come around the back to get to the legs so that it doesn't feel sudden to the cat. If it feels sudden, it will make the cat run away.
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