This isn't always sexual ... your dog wants attention and, let's face it, it always does get a good reaction!  It really is very rude of your dog, so don't put up with it.  You could notice that the dog is most likely to do it when you have friends over or the family and everyone is having a conversation around it and no one is paying attention to the dog - the person sitting on the sofa is a prime candidate - then the humping starts and  EVERYONE looks at the dog - even telling it to get off and laughing is a good reaction and the dog gets what it is looking for!  Put the dog outside and ignore it for a while - this is opposite to what it was looking for and will eventually catch on - attach it onto its lead, don't look at him, touch him or talk to him.  Don't make a fuss, just take him away and put him outside for a few minutes.  The dog could also try cushions, soft toys etc if 'legs' are taken away so remove the dog and the object when it happens.

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