Skin-on-skin contact is pleasant. The mechanics of it were covered in lectures. It leads to trust. Joan isn't a mark, but she provided Beta with information and offered her assistance. In return, Beta is more than willing to deal with her in kind. Which, at this moment, means touching her breasts like she asked.

"Yes," she admits. "Blame the Sisters who raised me."

She's still grinning when she goes in for a kiss, throwing her leg over Joan's thigh to really lock them together, and there's a little wiggling to get her hand in the right place and on Joan's breast. She indulges in some cursory exploration- a grope, conscious of the way Joan is breathing, eager for that sharp intake of breath or short exhale, a little pressure on the nipple as she rolls her thumb against it.