[He kind of suspected they'd do more than kissing - if kissing was okay then other things should be too, and although they can't go all the way there's no sex ban here. They can still get away with a whole lot!
The friction prompts a muffled moan against her lips. This is really quite good but there's also not a lot of access here. Maybe if he just... wrapped his arms around her and sort of... wrestled her over on one side so he can touch more things. Being side by side seems like the better option here, logistically.]