On one rare occasion did I try to do this with my bearded dragon. I was watching tv with my beardie when my cats approached him out of curiosity. I keep them at an arm's length distance from Aegon. After a few minutes have passed and I was back to watching tv, one of my cats pounced on him who was sitting on my lap. My beardie instinctively jumped away and landed on the coffee table before the cat got him. I got scratched by my cat after she landed on my lap but fortunately my beardie got away just in time. Never again do I bring my exotic pets out while my cats and dogs are in the room.
Cats are cats first, same for dogs, no matter how domesticated they are. One scratch and one bite can do a number on your reptile. If you check out the Reptile Doctor from Australia on Facebook, there are some pics of blue tongue skinks with guts hanging out because their pet dog got too curious.