My baby doesn’t want to crawl because he wants to be on my lap all the time. He seven months old... Is that normal?
Have you tried laying on floor next to him with toys so you play with him? Place him on his tummy with toys as a distraction whic he can reach out and grab. If you maybe lie with him he will know you're not leaving him.
My daughters hated tummy time but they get used to it and toys are good distraction!