Now that Sulu was situated firmly in Ianto's lap, the friction was beginning to be noticeably hindered by what little clothing they had on. Groaning in frustration, he rocked his hips a few more times before giving up and sitting up on his knees, dragging his fingernails down Ianto's chest until he absolutely had to pull them away so he could pull his underwear down, shifting until he could pull it off one leg and forgetting about it once he kicked it off the other.

That done, and feeling so much better, he pulled at Ianto's underwear next, hand reaching to free his erection before wrapping it as best he could around both of them, a low noise escaping him as he tried pumping them together. It wasn't elegant but it felt fantastic and in that moment, that's all he really cared about.