I just had the most vivid mental picture about this prompt - imagine something like, Arabella naked in front of Norrell (maybe on his lap or maybe they're just standing there) and he reaches out to cup one of her breasts very delicately, like he's not quite sure he's allowed, and she says "I'm not made of glass, Gilbert," and takes his other hand and brings it up too so he can explore, which he does, looking entirely stunned.

I gave no idea if that's in line with OP's thoughts but I thought I might share in case anyone else would enjoy the idea.