it depends on how you are doing the bed stuff. If you are under the covers you are lying in bed. If you are on top of the covers you are laying on your bed
If you exclude the meaning "to tell an untruth" and just focus on the setting/reclining meaning of "lay" and "lie," then the important distinction is that "lay" requires a direct object and "lie" does not. So you lie down on the sofa (no direct object), but you lay the book down on the table (the book is the direct object).
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