Him lifting his hips helps considerably - he's not huge but he's damn sure not petite and getting pants off without his help just wasn't going to happen.

It's much less effort to remove her own silk -- he'd loosened the top portion of the wrap around earlier, and it's all a kind of one piece sari anyway. It's gone in moments, and then it's just them -- two bare bodies splayed against the satin of Inara's sheets.