I would have something on your lap that he really wants. A bone, a toy, something so he has to get onto your lap to get it. Once he is there, then talk to him, stroke him, tummy rubs, cuddles. but take is easily, don't overdo it first go.
Don't pick him up to your lap, he will struggle to get away. He has to want to come up. You could try a treat - but then keep very special treats ONLY for on your lap. Probably best if he is on a chair beside you and you let him see the 'special' so he climbs over to you.
<sigh> When I first got Mku, my new puppy back in March, I started him on recall straight away, even before he'd had his shots and could go out in public. We had many a long walk, with Hoover, my old lady, with us of course. Nary a problem.
I am getting a new knee on Saturday and for a couple of months have been unable to walk, even use sticks to get around my own kitchen. My son takes the dogs out to the woods on weekends, and a neighbour takes them a couple of days mid-week. Mku minds both of them. Thank Heavens I DID teach him re-call back then ! Because although I will be able to walk them myself in a few weeks, I would be unhappy about having either of them on a leash for fear of being pulled over.
I'm very lucky, living where I do with a forest not too far away and a decent, really wild, woodland close by the village. I wouldn't be able to do this near a busy intersection, no - but over the almost 40 years I have run a pack of Basenjis - all have been trained to come back when Mom whistles.
So believe me, it is perfectly possible as long as you have the right conditions and frame of mind.