Sadie, Riley, and my cats are allowed on the couch and bed (well, the cats are allowed pretty much anywhere they can get-they like the perch on kitchen cabinets). When I first got Sadie, she didn't realize she could get up on the couch or bed. She just didn't know she could physically do it (or get in a car-I used to have to pick her up, then it was just her back half when she learned to put her front paws up).
Riley likes to put his chin on the couch first and kind of lift himself up with it, then flop his arms up there. He's really too tall for that now, but he still likes to do it, as if lifting his arms first is just too much of a bother...
