She doesn't really want to take her hands away from him, but she does long enough to unclasp her bra because his hands are clever, but some things are easier to just do yourself.

And the thing is she's suddenly shy, for all a moment ago she was pull his hand to her chest, and for all he's seen her before. Lucy still can't help blushing. But she didn't put her arms across her chest the first time and she doesn't now.

He's still got too many clothes on, and she's yanking at his shirt to try and get it off and push him onto his back.