It's strange but suddenly, after all the hesitating and second-guessing, they finally feel like they're both thinking the same thing, wanting the same thing, and Jack is way beyond ready at this point. He's been keeping himself detached ever since the ship blew up and he desperately needs this connection now. He half-sobs as he clutches at Ianto, feeling his body respond beneath those questing hands, his own grasping at Ianto's jacket to pull him close, and then changing tack and trying to get underneath it, wanting quite desperately to feel skin on skin.