KimD: We actually do something similar with him. We say "kiss" and he brings his cheek over and lets us kiss him on the cheek. He doesn't like it, but he lets us do it to get it over with quickly. I also sometimes full on hug him, and he goes stiff as a board because he doesn't know what else to do with his body, but I think he likes the attention so he doesn't hate it. I will try the hand over hand thing though, I'm curious how it would go.
CampinCat: Thank you for the advice, I will do some research on what is available here.
VioletYoshi: I don't know what you mean. I'm not mad at anyone trying to help me, I think their advice is very helpful. I also think you're taking this too close to heart because of the way you were abused. I am not a child, I'm 24 years old and I don't need to call child protective services. I don't live with my mum, but I spend a lot of time in their house to help her with my brother. I'm not looking for a way out, I'm looking for a way in so I can help them.