Why, your worshipfulness, so forward.

That particular task requires a fair amount of undignified wriggling. When she looks up at him he'll be grinning broadly. No mistake about it, Leia's a bit of a scoundrel herself. He leans back obligingly to give her more room to maneuver, lifting his hips and then his legs so she can tug and shove them away. Meanwhile he occupies himself with watching her, trailing the back of his hand aimlessly down from her shoulder.

And after a moment he props himself up halfway on his elbow, completely comfortable with his state of undress, waiting for his turn to catch her up.