Is a friend rubbing another friend's thigh normal?

I was hanging out with my guy friend. We were watching a tv show on his bed. While we were watching it, he reached over and started to rub my upper thigh. While he was doing it, he said my jeans were really soft and I just said that girls jeans are usually softer than guy's jeans. He didn't say anything, but kept rubbing my thigh. I moved his hand away and then he asked if I was scared and I said I wasn't. He started to rub my thigh again for a while. I'm just confused why he did it. Is it really because my jeans were soft or was he thinking about something else. Thanks!
Is a friend rubbing another friend's thigh normal?
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