This is perfectly fine and normal..Baby always wants to be in the mother's lap...the more u make a habit of taking him in your arms early and not leaving him on bed alone...you end up like this situation..
Don't worry ...baby wants to be cosy..so chooses to be in the lap...learn the art of wrapping the baby correctly...it's easily available on YouTube..
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Don't worry..things will settle down and he will adapt..babies are quick learners with good brains..relax and wrap the baby correctly..he will have the same feeling as if he is in the mother's lap..