Judging by the way Ned tenses and gasps a breathless yes against Daneel's mouth, it was definitely the right decision. He can feel in the way Daneel handles him just how careful he's being, and for some people that might be a turn-off. Ned knows that someone else might mistake gentleness for weakness, that other people become impatient and exasperated when they are treated as if they are fragile. But for him, it is both comforting and quite arousing. The strange juxtaposition of Daneel's potential strength (and Ned knows it's much more than a human's would be) and his limitless tenderness makes his heart race.

He feels, beneath everything else, a sturdy and necessary foundation of safety. Trusting Daneel utterly means he can allow himself to get completely lost in it all. With Daneel touching him like that, kissing him with such earnest attention, he can let go of every shred of worry and every lingering scrap of uneasiness about his body and its capabilities. The only thing on his mind is Daneel: both the abstract idea and tactile reality of him. Ned shifts, pressing his hips up in encouragement, not quite managing to stifle a small whimper.