Mishkat al-Masabih #398
Purification
The Arabic includes the chain of narration (sanad) and the collector's commentary; the English translation shows the Prophet's words only.
عَنْ أَبِي هُرَيْرَةَ عَنِ النَّبِيِّ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ قَالَ: «إِذا جلس بَيْنَ شُعَبِهَا الْأَرْبَعِ ثُمَّ جَهَدَهَا فَقَدْ وَجَبَ الْغسْل وَإِن لم ينزل»
Abu Huraira reported God’s messenger as saying, "If one lies on his wife and compresses her, washing is necessary, even if he does not insert his penis.”
(Bukhari and Muslim.)
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About Mishkat al-Masabih
This hadith is #398 from Mishkat al-Masabih, in the Book of Purification.