So here is a go at being more 'instructional' - yes I know the house needs better lighting. Or I need to do these during the day.
And some of you asked for a 'blooper reel' - well I managed to recreate the 'hug' she will do it if Bender is sitting to the left of her.
I need to get her not to hit him in the head so much, but just lay her leg over his shoulders... if she gets him in the head he gets all arced up for a wrestle.