His arm has slipped around Bucky’s hips in his sleep and after a moment Steve gets what it is this time. Bucky is hard from being pressed so close and the complete ignorance in his face of what a person would do here is awful. The distance HYDRA and their mindwipes carved between them is awful when the Bucky he knew would have turned to him for a kiss and rolled on top of him without a thought. But all that closeness of feeling like one person is buried now under the blankness they left and the grueling struggle to learn how to live his life again.
Source: I’ll Show You the Roses That Brush off the Snow, by Paraxdisepink – Captain America (Movies) [Archive of Our Own]
Steve teaching Bucky how to pleasure himself, this is bittersweet with Steve’s longing.