Slowdance, and a backless dress, 200 years in the future. This was never covered in any of his etiquette lessons, and certainly never broached as a midshipman.

(If it was, he missed that class.)
Uncharted Territory
This was awkward enough when he was learning. That has not changed, except now it is for entirely new reasons, as Wellard Very Carefully puts his hands around Hannah's waist.