It's just the couch. He's not trying to get Bruce into bed just yet. Not that Tony would have any complaints if Bruce actually agreed to that, but he knows how nervous he is about contact.

This is an exercise of trust. Not in Tony, but in Bruce himself. One thing that Tony is good at is observation. He notices these things, and for better or for worse, he's taking it upon himself to get Bruce back a sense of comfort and self-confidence. This is about seeing himself as safe, and capable of contact.

He doesn't remove his hand at the jump, and the wry expression gets an honest grin out of him.

"See, that just means you're letting JARVIS win. You need to step it up, Banner."

Tony looks his friend over, seeming to seriously consider this plan of action before slipping off of the couch and turning so that he's facing Bruce from the front, kneeling right in front of his knees with his hand still in place on his leg.

"You need some help with relaxing? I can do that."

And help may just start with a massage, both hands kneading his thighs.