How do I tell him I want to do it with him?

Okay so when I'm hanging out with my guy friend when ever we're with friends or if either of our parents are hone we are normal and laughing yet when we are alone things and get pretty persay touchy like him touching/gripping my thigh or I sit on his lap or him pulling me into a sus position then us laughing at it things like that and to be honest it really turns me on so I don't know how to tell him I wanna do the do with him

How do I tell him I want to do it with him?
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