They're pretty much already on their feet when he offers, so they just give the back of his palm a little tap with two fingers. Flesh ones.

And then they take a breath, think of a couple origami folds, and calm the fuck down, because they're not supposed to be grouchy with Steve. They're pretty sure. "Just startled by you faceplanting. You didn't let me worry about you for a whole mission. It's gonna leak out here and there, if you pull stunts like that right in front of me."