Letting him set the pace in many parts of the reconciling will be hard, but helpful. I like that he is moving toward going to church services together. If he goes with an open heart, mind, and listens ... he will begin to hear his answers and you will be at his side. You may never see him hit bottom personally. That should not diminish your victory. He knows what he has done. He may still be learning why. He should come away knowing he will never do this again, ever. His teenage years are over. Now it is time to enjoy being a grown up.
Nekkid weekend sounds like a good way to start btw. As for groceries, as long as you promise not to let him come to the door, I will be glad to deliver your order and save you the trip. Not sure what you will want besides honey, chocolate syrup,strawberries and whipped cream so you'll need to make a list.
Also, don't worry about a tip at the door, I think that is something that will take care of themselves.