It sometimes takes a bit longer, when your approval with him isn't that high. I had that scene in my first playthrough around teh goblim camp. But I think Red Queens spoiler tip helps.
I mean, you can stop him from biting you at all - but you should get the cutscene if you are resting regularly and he is in camp. You can also limit his food to non-sentient kills but he won't love you for it.
I had low approval with him until Act 2 because I set firm boundaries with him.
