My little dog often refuses to get up on to the sofa unless I lift him with my legs. He will stand on my feet and wait for me to elevate my legs and then use them as a plank to walk on to the sofa, somehow it started when he was a tiny puppy and he's got into the habit of doing it constantly now.
It's a small thing that I love, he also squeezes himself under the sofa and will pop out the bottom when I hoover. Although he's struggling to do this since he's a little chunkier now 