To set or rest s.t. up on s.t. (as a boat or canoe on supports to dry dock).
The pa--un imp. focuses on the object that is being placed on top of s.t. else. The -an imp. focuses on the thing that is having s.t. placed on it.
Did you already put your canoe up on supports?
Don't rest your foot on my thigh.
Don't rest your upper body on that table.