Okay, see this quick diagram?

He is able to hug human man with his legs while resting his face in human woman's chest while hugging her with his arms, a balance.
Now...hmmm...this would a proper-ish way, to allow for some mobility, so he could roll over here or there, or at least shift a little.

But like I mentioned, only an arm and a head for the two to cuddle with, while the middle person gets all of the leg.