Does he like me or just want to sleep with me?

[E m m i e <3]

I think Abby is trying to guide you after all this is her older brother we're talking about. Judging from the immediate contact with skin touching and rubbing and caressing, I could assume he is a very "touchy feely" person, but it could also mean he likes you AND probably wants to sleep with you. Take a look at what you said about " I had my leg hanging over the end of his bed near where he was sitting. He kept leaning his head and rubbing my leg. After we watched that movie we watched Insidious. He kept looking up at me and smiling at me and rubbing my arm and messing with my fingers. "

If You just met this guy, then immediately I would say he's looking for lust and not really love. UNLESS you're into those relationships like flings or not looking for long term, then go for it if you're up to that kind of relationship.
If you are looking for a cute-sy lovey dovey relationship or long term long lasting one, I say No to this guy. Look at how easy it was to just touch you instantly. I'm assuming you must be very attractive and that is also a plus to add onto the list of lust and sex. So yes, he likes you, BUT wants to have sex with you most definitely. The signs are there.
So now just decide if you want to go out with him and have sex and do all those things with him OR don't go out with him and wait for someone else out of your preferences.
Whatever you choose, Best of luck!