Sayyidah Aisha (may Allah be pleased with her) says that the Messenger of Allah (peace and blessings be upon him) in the state of fasting would have physical intimacy (with his wife), that is, would join body to body, but would place a cloth between his and her private parts.
Hadith Referenceالفتح الربانی / كتاب الصيام / 3774
Hadith Gradingمحدثین:صحیح
Hadith Takhrij«حديث صحيح۔ اخرجه مسلم: 1106 بلفظ ان رسول الله صلي الله عليه وآله وسلم كان يباشر وھو صائم ، (انظر مسند أحمد ترقيم الرسالة: 24314 ترقیم بيت الأفكار الدولية: 24818»