\" \" In most U.S. states it's legal to drive with a dog in your lap, though that could be changing. Garrett, who is a dog owner and former first responder, said she knows how easily a dog gets excited, particularly if he hears sirens. If a dog jumps in a driver's lap, the chances that driver will do all three are high. For instance, Monteiro says:Pets riding in a driver's lap can accidentally get between the driver's feet and the pedals. Whether or not these restraints — or Michigan's driving with a dog in the lap — will become law is anyone's guess.