You know, I'm not entirely sure if he did it on purpose or not. He's only 20 here, still young and not quite as fucked up as later, so maybe there's still a daring part in him that considers doing something as frivolous as, gasp, brushing Davos' fingers. Or maybe it was an accident. But I prefer to think that it's young Stannis' very awkward way of trying to flirt a bit. (Though I always thought the running away afterwards was more something ten-year-olds did.)
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Glad you liked it. :)