[ They're in the castle. They're home. He's safe and he's practically stupid with joy at it. They're both of them leading in, and he doesn't need it, not really, he could walk on his own if he wanted. But they're not doing it because he needs it. They're not doing it out of obligation. They're doing it because they love him and he's safe because they love him and-

-it's a lot. ]

Until we get around to the part where you fuck me until I can't walk, I can climb stairs.

[ Look who gets to swear again now he's home. He can still talk, at least, even if the tone is far, far too soft for what he's saying. And even if he does, in fact, continue leaning on Alucard as they go up the stairs. ]

So it's 'want to'. Not need to.