What Lucy gets from the Sean episode is that she was trying to get a motherly feeling from him. a group of Lucy's friends come over and she sleeps with Kelly and tells him about the book she is working on. Lucy worries about letting her fears take her over.
Being able to touch someone is a big part of her healing. She makes plans to leave the facility despite Dr. Rick trying to convince her to stay., but worries about whether her friends will even want her to come home or if she will have to prove her sanity in every encounter.