It's not normal. If it really was innocent, he wouldn't care that he was seen with you on his lap. As for the arousal you experience, remind yourself this: that's your father, related to you by blood, he's an adult and a relationship with him would be extremely unhealthy.
Avoid your dad's lap for awhile. Forever would be good.
my dad tells me to sit on his lap
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It's not normal. If it really was innocent, he wouldn't care that he was seen with you on his lap. As for the arousal you experience, remind yourself this: that's your father, related to you by blood, he's an adult and a relationship with him would be extremely unhealthy.
Avoid your dad's lap for awhile. Forever would be good.