Is it permissible for a father to sleep on the lap of his adult daughter out of affection, and likewise to place his hand on her shoulder?

The questioner : Now, our Shaykh, if a father, for example, sleeps on the lap of his adult daughter, meaning many times a day, out of, meaning, playing with her as his daughter, out of affection, meaning, or hugging her or placing his hand on her shoulder or something, is this permissible?

The Shaykh : As for the first one, I do not see all of this as falling under blocking the means to harm, but as for placing the hand, there is nothing wrong with it. Do you understand what the first one is?

The questioner: Yes.

The Shaykh : All right, please, Abu Namshi, if Allah wills.