"Is that Luna? Making out with Nev?" "What?" Dan turned around so he could see it. "I have a plan!" Kyle yells excitedly causing the other couple to see them.
When they walked over, Dan spoke before their teenager daughter could hit Kyle. "You should come over to dinner." So that's what happened.
TIME SKIP
After they finished eating, Dan leaned over to Kyle and they started making out. In the end, Dan was in Kyle's lap and the younger couple left.