عَنْ عَائِشَةَ رَضِيَ اللَّهُ عَنْهَا أَنَّ رَسُولَ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَآلِهِ وَسَلَّمَ كَانَ يُبَاشِرُ وَهُوَ صَائِمٌ ثُمَّ يَجْعَلُ بَيْنَهُ وَبَيْنَهَا ثَوْبًا تَعْنِي الْفَرْجَ
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.