La Genèse 49:33 Halakha : Kitzur Shulchan Arukh

Those who are attending the dying person, should see to it that no limb of his projects from his bed, as it is said concerning Jacob, "And he gathered up his feet to the bed."³Genesis 49:33. Therefore, they should place chairs at [the side of] the bed, so that he cannot extend a hand or foot outside it. Nevertheless, if this was not done, and his hand or foot was extended, it is forbidden to touch him in order to put it back.