While Scott is carrying Armstrong to a bed in the makeshift sickbay, his hand his under her head until they cross in front of some equipment that block the view of his hand after which his hand has moved under her shoulder blade.
Just after arriving on the jungle planet at the start of the episode Eli asks Chloe how it feels to be on her first alien planet. However it's at least her second alien planet as she visited Icarus Base which was an off-world site.