There is a Chinese phrase called chenghuan xixia 承欢膝下 [being cared under knees], and it refers to the situation that the children serve their parents to win their favor and affection. The phrase originated from a sentence in the section “Shengzhi” 圣治 [The Government of Sages] in Xiaojing 孝经 [Classic of Filial Piety] (a Confucian classic about filial piety):“Now the feeling of affection grows up at the parents’ knees, and as (the duty of) nourishing those parents is exercised, the affection daily merges in awe”故亲生之膝下，以养父母日严 (translated by James Legge).
Later on, xi 膝 [knees] has become a metaphor for the condition of children serving and being cared for by their parents. In the text, the meaning of xiqian extends from such conditions to a happy and safe life within reach.
See this webpage for the full original text of Xiaojing 孝经 [Classic of Filial Piety] and its translation. https://ctext.org/xiao-jing/zhs?en=on
