Why are you so certain Hermoso was the one who initiated or wanted to lift Rubiales? Because if that's not the case, then your 'camaraderie' angle falls flat. Not that it changes anything anyways even if she was the one, who did.
For me, it looks like Rubiales hugged her tightly and then raised his own feet to put all of his weight on her and then it was her natural reaction to brace herself for that. Plenty of people do this unprompted like when you jumped on someone's back and the person adjusts as they feel your weight. However, that doesn't mean the person holding the other person/bracing their weight is doing some kind of initiating because if they didn't hold on, both of them would fall.
In Hermoso's position, if she did want to initiate, she would be hugging tightly and leaning backwards on her heels to hold his weight and not tip toeing forwards unbalanced (because who lifts someone on their toes?), as she didn't probably expect to be carrying his weight unpromoted.
