PIC means Pilot-In-Command, not Pilot-In-Control. It's perfectly fine to let a passenger have a go at the controls, as long as the PIC remains in command.
I volunteer for a Dutch charity where we do almost 1000 flights with chronically ill and handicapped children annually, with the express goal of letting the kids feel they're pilot for a day. Including letting them have a go at the controls. Obviously the PIC does the take-off, climb and establishes (trims) the aircraft for the cruise. But the kid can then fly the rest of the flight under the guidance (control) of the PIC. Until the time comes to start the descent for landing. That's when the PIC takes over the controls again. This is well known inside the Netherlands to both the authorities and the insurance companies. No problem whatsoever.