Basil frequently says "I've got your foot" and I've known from talking to his owners that he'll hold on to their foot while saying this. He hadn't felt comfortable enough with us to do this; in fact, when I'd touch his feet (when he was hanging on to the cage bars), he'd scramble back down to the safety of his interior perches.
Until recently. Last week, he put his leg through his cage bars and grasped for my finger as he said "I've got your foot!" We stayed for several minutes like this. Here he is, holding on to Thomas's finger: