My cats let me pet them anywhere, most of the time - they really like it. Except when Sweetie is in a bad mood, or has had enough, or maybe is just in a playful mood, she will bite/scratch a little bit if I touch her belly. But other than that, they are pretty good about it.
Also, they don't mind being held, even being held like a baby or anything....until they've had enough of it.
So how about your cats?