My husbands dad, every time we are with him he has my 2.9 year old daughter sitting his lap and he starts running his fingers across her legs and arms and opens her belly and rubs his fingers against her belly then says does that feel good? And I don’t know if this is normal but I feel like I could burst into tears watching it. It just doesn’t seem normal but maybe it is? Please let me know if I’m over reacting?
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Be protective over your child. It’s ‘probably’ innocent, but it could also not be. Don’t leave him alone with your daughter, ever. You can never be too trusting these days and remember, your motherly instincts are there for a reason x

And you've never told him to stop doing that or your child can't sit on his lap

You feel that way for a reason. Follow your instincts.
If that was my daughter she'd be nowhere near him.

Not normal behaviour at all.
Does your husband have any sisters? Girl cousins? Could you ask them what their views are on the dad?
I would call him out on it everytime in front of everyone. “Can you please stop touching her like that John” and I would not give him any opportunity to hold her or be close to her. She would conveniently need a nappy change or something.