Yu's heart skips a beat when he feels the hand moving lower on his body. He briefly catches Yosuke's gaze and gives him a short nod- if he wants to do it, he's free to. He'd consider himself crazy if he'd ever say no to it.

He lifts his head to the level of Yosuke's face, catching his lips in a kiss. He murmurs softly, voice a bit deeper and shaky from excitement,"...lift hips..." so that he can tug them down slightly. He doesn't have his own lowered on Yosuke's so the boy can move any way he wants.