What is the ruling on an adult woman or an adult man sitting on the lap or leg of their father or mother? Does this differ from the ruling on sitting on the lap or leg of a brother, sister, or friends? And is it forbidden by analogy with sitting on a chair with clothing as a barrier, knowing that this is done for jest or at the parents' request?

It is permissible to place a child on the lap or thigh, and this is indicated by the action of the Prophet, peace and blessings be upon him. As for adults, male and female, a distinction is made between their sitting on parents and on others. It is permissible for a son to sit on his father's thigh or a daughter on her mother's thigh for affection or a temporary necessity. However, it is forbidden for adults to sit on each other's thighs if there is a suspicion of arousal or temptation. If sitting on the severe 'awrah (private parts) occurs, it is absolutely forbidden. This falls under the principle of blocking means that lead to corruption.