If you're a new Tesla owner here's a handy tip:
When you're engaging autopilot, it keeps bugging you with a message "apply light pressure on the steering wheel" you shouldn't do that. In fact, you just need to keep your hands on the steering wheel like that (see above), and you'll be completely fine. You probably won't even get that message. This position itself makes enough pressure on the steering wheel to avoid any warning messages and safe enough for you to feel any changes in car behavior.