Ah, okay.
I agree. A lot of fans would have had some serious problems with the two of them being intimate more than a tiny kiss like that.
If nothing else, I think had he let it go on, he would have been him being someone he's not. When it came to that sort of thing, Cara and Richard were very different. Richard, I think, really had to be in love (like he was with Kahlan) and was more a committed type. Cara was more open to pretty much anyone.