Your dog or cat can really brighten up your day at home. The chemical seretonin can be released in your brain which makes you happy when you lie with your cat. This makes you feel good about yourself.
Steps
You need to make sure that your cat/dog is comfortable with it or else you cannot go and lie with your cat or dog.
This is best done while your cat/dog is already lying down. Go and stretch yourself out behind it and start stroking it gently.
Hopefully the cat/dog will be content and may even lick your face!
Enjoy lying with your cat/dog.
If it's a cat, then if you pat your hand on the bed, it might get up and lie with you!