Ladies, how would I ask a close female friend to sit on my lap? And if so, how do I convey that my reason asking her holds NO sexual intent?

Revisiting this question at the age of 30 from when I was 19, I wanted to ask if it is possible to ask a lady who is close to me to sit on my lap that I hold no sexual intentions with.

And if so, how would you ask/hint it at her? I've heard of it being done before. What boundaries and settings would you have? And what would the reasons for doing so be?

Ladies, how would I ask a close female friend to sit on my lap? And if so, how do I convey that my reason asking her holds NO sexual intent?
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