Hadith: The Prophet (may Allah's peace and blessings be upon him) and I used to take a ritual bath from one pot when we were both Junub (in a state of major ritual impurity). During my menses, he would order me to put on a lower garment, and he would fondle me.

عَنْ عَائِشَةَ أُمِّ المُؤمنينَ رضي الله عنها قَالَتْ:
كُنْتُ أَغْتَسِلُ أَنَا وَالنَّبِيُّ صَلَّى اللهُ عَلَيْهِ وَسَلَّمَ مِنْ إِنَاءٍ وَاحِدٍ كِلاَنَا جُنُبٌ، وَكَانَ يَأْمُرُنِي، فَأَتَّزِرُ، فَيُبَاشِرُنِي وَأَنَا حَائِضٌ، وَكَانَ يُخْرِجُ رَأْسَهُ إِلَيَّ وَهُوَ مُعْتَكِفٌ فَأَغْسِلُهُ وَأَنَا حَائِضٌ.
[صحيح] - [متفق عليه] - [صحيح البخاري: 299]

‘Ā’ishah, Mother of the Believers, (may Allah be pleased with her) reported:
The Prophet (may Allah's peace and blessings be upon him) and I used to take a ritual bath from one pot when we were both Junub (in a state of major ritual impurity). During my menses, he would order me to put on a lower garment, and he would fondle me. While in i'tikāf (seclusion for worship in the mosque), he would lean his head out to me, and I would wash it while I was menstruating.
[Authentic hadith] - [Narrated by Bukhari & Muslim] - [Sahih Bukhari - 299]

Explanation

'Ā’ishah, Mother of the Believers (may Allah be pleased with her), reported some of her private affairs with the Prophet (may Allah's peace and blessings be upon him), including the fact that she used to take a ritual bath from Janābah (major ritual impurity) along with him (may Allah's peace and blessings be upon him) from one pot as they would take water therefrom together. Whenever he (may Allah's peace and blessings be upon him) wanted to have intimacy with her during her menses, he would order her to cover her body from the navel to the knee, and he would fondle her without copulation. During his I'tikāf in the mosque, he (may Allah's peace and blessings be upon him) used to lean his head out to 'Ā’ishah, and she would wash it while she was in her house and during her menses.