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Martha didn't know life could be any better until she met the Doctor's daughter. Hand holding apparently is something their family just does with their companions, but Jenny liked to hold hands with Martha almost all the time, unlike her father who's so restrained. Jenny also liked to kiss Martha's hands, which the companion did not complain.
"What if I kissed you?"
"Then you'd kiss me."
"But would you like me to do it?"
"I don't know." Martha grins. "Kiss me and I'll answer."
Jenny gently presses her lips against Martha's.
"So?"
"So, I want you to do that again."