Figuring this was going to be some sort of strange lesson, Steve just kicked off his boxers (because god damn, they were uncomfortable at this point) and then settled back on his haunches near Pepper. He looked at Tony as the man pushed the pillow under Pepper's hips and seemed to get a slight idea of what was about to happen.
It made him blush, and he glanced up at Pepper before leaning forward on his hands and leaning in to brush their lips together gently.