Sahih al-Bukhari - Book 6, Hadith 7
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Narrated `Abdur-Rahman bin Al-Aswad: (on the authority of his father) `Aisha said: "Whenever Allah's Messenger (ﷺ) wanted to fondle anyone of us during her periods (menses), he used to order her to put on an Izar and start fondling her." `Aisha added, "None of you could control his sexual desires as the Prophet (ﷺ) could."
How the Prophet ﷺ modelled this behaviour here
Physical Sexual Intimacy
“None of you could control his sexual desires as the Prophet (ﷺ) could.”
Physical affection; marital intimacy; intimacy communication; physical closeness; tender connection