Ianto removes one of his hands just long enough to squeeze some lube onto it, then wraps his hand around his cock and slicks it up. He misses the contact with Jack instantly but after all the talk and kissing he is more than ready to move things along. Once the lube is applied his hand is back on Jack's hip to steady him, letting him decide when he wants to move.
"Hmm, maybe next time we can try this in public and see if anyone notices." He can't imagine the amount of trouble they would get in for it but it's a tantalizing idea nonetheless.