So I have a dog who's about 6 years old I believe. He does like to jump up in my bed in the morning and sleep for a few hours. He sometimes even rests his head on my leg, but what really amazed me was when he came up to me, rest his head on my chest and slept for so long. That's what I want to happen again! He never wants to be close to me it seems. He does however cuddle with my mother whenever he gets the chance?

Sounds like you need to form a bond with your dog. Start teaching him things.. play with him.. take him for walks... involve every day activities with him..

Bonding takes time, but once that bond is made, you'll get the cuddly dog you want.

Is he more your mothers dog?
Bonding should help, though sometimes, dogs can be very much a one-person dog.