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Look at these pictures

enter image description here

and

enter image description here

People often put one of their lower legs and rest it on the thigh of the other leg.

Sometimes, that action is just his habit, but it could be that he want to relax when he does like that.

put one's feet up

phrase of foot INFORMAL

take a rest, especially when reclining with one's feet raised and supported.

am not sure "put your feet up" is a good one to use in this case?

Note: I found this in the dictionary

cross–legged /ˈkrɑːsˌlɛgəd/ adjective Learner's definition of CROSS–LEGGED : having the legs crossed

She curled up into a cross-legged position.

— cross–legged adverb

She sat cross-legged.

The kids sat on the floor cross-legged. [=with their legs crossed and their knees spread wide apart]

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The phrase "to put your feet up" doesn't describe this position but your question has actually been asked and answered in a post on English Language & Use:

https://english.stackexchange.com/questions/237000/how-would-you-call-sitting-with-your-legs-crossed-but-one-calf-resting-on-the-ot

Take a look. It answers your question :)

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  • do we say "to lie with crossed legs"?
    – Tom
    Commented Jan 16, 2020 at 11:58
  • We can do, but that might be understood to mean lying with the legs extended and crossed - see [this article on tomb effigies](the-history-girls.blogspot.com/2016/02/cross-your-legs-and-hope-to-die-what.html) . I don't think the pose in your picture is common enough to have a simple name in everyday language, though yoga experts might have a name for it.
    – Kate Bunting
    Commented Jan 16, 2020 at 13:57
  • Sorry about the above - I could not get the link to post properly.
    – Kate Bunting
    Commented Jan 16, 2020 at 14:05

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