Why do dogs move their hind legs when we scratch their belly?

Hi there. I have a question regarding a behaviour about dogs that why do they move their hind legs when we scratch their belly or some part of their body? Is it because they really like it or Is there any particular reason behind that? Also, is it okay if we do that?

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When we tickle them it triggers their scratch reflexes. It is perfectly ok and they like it.

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