Yes, not to mention doing this sort of thing with a dead guy is probably taboo in multiple universes, not just this one.

When his pants hit the floor he raised his legs on shaky knees to step out of them, then kicked them to the side. His hands returned to her hips, transmitting the shudder that rose through him as her fingertips danced along his skin.

"If we weren't both so beat up I might say we should skip the bath."