This is just my opinion, but I also have a Gizmo.  He loves to sit at and on our feet.  He likes to snuggle, and wants to know when we move.  I think he does it as a sort of alarm clock for himself so he doesn't miss anything.
 
I'm sure his penis has touched our feet often, but I think it's just coincidental and not intentional.  It's just so close to that cute little belly that it can't be helped. 
My recommendation?  Try to turn it around in your head  and think that he's just resting that cute little belly on your feet. 
 
 
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 The fullness of our heart is expressed in our eyes, in our touch, in what we write, in what we say, in the way we walk, the way we receive, the way we need. -Mother Teresa   (
 RIP Gizmo 3/9/07-8/18/12)
