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As long as the weapon is visible, it is legal. However, I don't advise carrying a weapon on your lap while driving as it is dangerous. You really shouldn't have anything on your lap. If you slam on the brakes, you now have a loaded gun on the floor on, near, or under your feet and now you are trying to retrieve your gun and drive at the same time. I believe in using common sense. Just as you shouldn't be shaving or doing your nails while driving, you shouldn't be fiddling with a firearm either. Setting the gun on the passenger seat is a bit safer but I still wouldn't advise it. If you don't have full control over your firearm, either put it away or unload it. As Sonora said, it is best to wear the gun while driving or put it in the glove box. A lot of things may be legal but dangerous. Enough said.