"The Messenger of Allah (ﷺ) would fondle one of his wives when she was menstruating, if she wore and Izar (waist wrap) that reached halfway down her thighs or to her knees.
Reference: Sunan an-Nasa'i 376 In-book : Book 3, Hadith 28 English translation : Vol. 1, Book 3, Hadith 376
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