He put his head on my lap, what does it mean?

We only met each other today. He's a friend of my best friends's boyfriend and we had a friendly date, all 4 of us.
We had fun, but I was the one who was the most reserved and quiet, my best friend is very loud.
My best friend and her boyfriend kissed and caressed each other all the time. So we were kinda outcast.
We played and walked together, then he told me he felt lonely in his car so he would drive me. He loves his car a lot and he let me drive his car. His friend says It's rare because he gets very protective when it's about his car.
At the end of the day, he got tired I got tired too and he asked me to put his head on my lap. I let him do it and then he warmed my hands saying there were cold.
HE'S usually quiet rude with other girls but with me he was gentle.
Does he want to get in my pants?
He put his head on my lap, what does it mean?
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