Feet touching - A Friend's Experience

This is not my story, I recently discovered this page and thought it would be interesting to gather some opinions on what happened to one of my friends. He is not the type to lie, or simply be mistaken, especially about something like this.

Everything he has told me is as follows. He said when he was a young boy, between the ages of 8 and 10, he would sometimes wake up in the night and feel his feet and lower legs being moved and twisted about. Upon closer inspection as this continued to occur, he noticed a pair of hands at the end of the bed, reaching through the metal bed frame gaps and touching his feet. This kept happening, starting from not much contact to fully crossing and intertwining his legs. Another time, he mentioned that he heard his wardrobe open slightly, to then seeing the hands at the end of his bed. He said he wasn't afraid, as it was seemed that whatever was happening wasn't life threatening, so he moved down the bed towards the hands. The hands vanished and the wardrobe door slammed shut. The hands never came back after this.

He claims this wasn't a dream, and he was fully awake and aware during this instances. Could anyone offer ideas on what this could be? Why would something paranormal have an interesting in twisting legs and feet?