Should I tell him I'm going to sit on his lap or just do it?

Ilovesinging101
So, the other day I told my friend to sit on her boyfriends lap. She did, but then ALL my friends were telling MY boyfriend to sit down and I told him not to listen to them. All my friends were yelling at him to sit down, then my friends boyfriend said to him "Aye bro, she wants to sit on your lap so sit down" And my boyfriend starts smiling and said "I'm down" but I was being a dumb ass and I didn't sit on his lap-.- This was 2 days ago; and I really want to sit on his lap and I blew my first chance to. Should I just tell him to sit down so I can sit on his lap? Because he's always standing and never sits down, how should I tell him to sit down or to tell him I'm going to sit on his lap without making it awkward. Help.
Should I tell him I'm going to sit on his lap or just do it?
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