My parents would always take me out to the country roads where nobody was around, and I got to sit on my moms lap and steer our van. lol Of course my mom drove super slow, and she kept her hands on the wheel in case I steered it off road.
I just heard a complaint about some woman doing that in my hometown with her 3 year old kid. I'm sure I'll do that with my daughter...
If it's not hurting anybody in any way, then why should it matter?!
Have you ever let your kid steer the vehicle while s/he was on your lap? If not, do you plan on doing that?