Dog Training Tip:

Dogs Prefer to Do It Themselves

Whenever I had our pup in my lap and I had to go do something,
I'd say, "I gotta get up." and then gently moved the pup to the floor, or another part of the sofa.
After about a month, all I had to do is say it and he'd get out of my lap.

The beauty is, I wasn't even trying to train him (that's why it took a month) I was just consistent with my words and actions in that situation enough times that his dog brain figured it out.