I have a 3 year old cat who isn't the most "loving" animal I've ever owned. Since owning him, he has never sat on anyone's lap, and tends to hide in the closet when more than 2 people are in the same room.
Last night, for whatever reason, he jumped up on the couch with me and laid on my legs. I let him stay there for 2 hours, after which I couldn't take it anymore because my legs had gone completely numb lol.
I've gone 30 minutes or so for my wife when she wants my arm around her, or leans up against me, but never 2 hours like I did with the cat lol.