put one's legs under someone's mahogany

light a fire under

To motivate or encourage (someone) to start sooner or move faster.

under one's thumb

Completely controlled by someone; at someone's command.

get underneath someone's skin

Alternative form of get under someone's skin.

under someone's nose

directly in front of one; clearly visible

in someone's pocket

Receiving money from, and under the influence of, a person or group of…

talk someone under the table

To bore (someone) with excessive talk.