Sitting on the lap

Okay, this may be weird, but I've always wanted to sit on my boyfriend's lap while we make out. I'm not sure if he wants this as he is a super nervous person and once told me he doesn't do half the stuff he would like to do, but he refuses to elaborate.

So, I thought maybe I'd just do it, but I don't wanna ask I don't wanna weird him out. How do I just like casually sit on his lap? Without creeping him out?

I cant even ask him because hes gone on holidays with no WiFi for two weeks, and I wont see him for another week after.

Please help me! I know it sounds stupid, but this is really something I want to try.

Also if it helps, once we try something he does it all the time, so as long as we do it once or twice we should be set lol.

Thanks!