Daneel considers this question with customary gravity. There's nothing impossible about Ned's request, though it does involve a certain amount of caution. If Ned wants to try it, he can see no reason why not. Is it something he knows how to do? Yes, in theory. He's blind to this, but he will act as he has in the past: experimenting to see what pleases Ned best, because that's what it's about for him. It's all about making Ned happy.

He slides his hand along the curve of Ned's back, and he answers first with a kiss. "I can do this for you, if you're certain. However, we will require lubrication of some variety."

It's an important point, from his perspective. His hand comes to rest on the back of Ned's neck, and he kisses him again, delicate and careful.