He just kisses her for a bit, gently caressing her body, her neck, her side, her breasts, his hand just idly wandering. Then he reaches down and pushes his sweatpants and boxers down a bit, though not bothering to properly remove them just yet. His erection has flagged a bit, so they need to do something about that before he can put on a condom, but that probably won't be too difficult.

He gently takes Joan's hand, lifting it to his cock and wrapping her fingers around it, keeping his hand on hers. He's lying down on his side, so that she doesn't need to use any strength to keep her hand up, which is also why he's helping her. It's both a request, and a way to help her pleasure him with her limited strength.