Responses

Basically, when someone sits upright on a couch there is a gap behind them. I (and many others it would seem) would lie behind them to occupy that space. It was warm and comfy but not awkwardly positioned like lying in someone's lap would be.
It's what Senri did in the first panel.
http://www.mangago.zone/read-manga/kekkon_shite_kudasai/mdx/mpn_chapter-2021417/pg-13/
I thought I was the only one that did that back thing with my mom. I loved doing that.