This doesn’t happen often, but it’s not unheard-of, either. My iguana used to cuddle with his two best buds, a big black cat and a feisty little schnauzer: the three of them in a heap on my bed, on a cold winter’s day.
This is an old iguana who’s been brought up properly and with affection, so he appears to enjoy the cat’s company. The cat’s well-behaved, too, but still a little shy. The two will grow closer, with time.
In a loving household, that’s what happens.