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Despite Mantis’ abilities being touch based, she didn’t have much experience with physical contact. She touched her father to help him sleep but there wasn’t anything warm about it. If she was to be honest, she couldn’t think of a time where touch felt warm at all.
On the Benatar with the rest of the Guardians, it was different.
Drax was never afraid to express himself, both vocally and physically. He would pat her back when he laughed too much (she would fall on her face each time) and sometimes picked her up and swung her around; she’s always surprised but these acts of touch weren’t unwelcomed. In fact, she always ended up feeling giddy.
Quill was also comfortable with physical contact. It was through him that Mantis learned the joys of fist bumps, high fives and handshakes. Something about them felt intimate because these were part of Terran culture and she felt glad that he decided to share them with her.
Gamora made Mantis nervous. She tried to avoid her on the Benatar after accidentally reading her emotions on Ego. But, Gamora eventually warmed up to Mantis. She always made sure to remind Mantis that she was pretty anytime Drax told her she wasn’t and whenever Mantis was anxious on a mission, Gamora would put a comforting hand on her shoulders. It was small and subtle but meant a lot to Mantis.
Rocket was very cautious. After what happened on Berhert, Mantis made sure to not touch him without his permission, and to not call him “crabby puppy” anymore. But after some time, he eventually started to let her pet his ears. Quill later informed her that it meant he trusted her. Mantis felt very happy.
Groot was the youngest of the Guardians and the one Mantis was less acquainted with. She didn’t have much experience with kids but she later learned that they were hyper, dropped swear words all the time and climbed onto people. Or maybe that was just how Groot was. Anyways, it didn’t take long for him to also climb Mantis and sometimes hitch a ride on her shoulders. Without realizing it, she learned to understand him too.
Mantis still used her abilities, whether it was against enemies or to help her new family. Unlike back on Ego, she learned that touch was much more than whatever her abilities were for.