Abu al-Zubair says that I asked Sayyiduna Jabir (may Allah be pleased with him) whether a man can touch his naked body with another man. He replied that the Prophet (peace and blessings be upon him) strictly forbade this.
Hadith Referenceمسند احمد / مسند المكثرين من الصحابة / 14753
Hadith Gradingحکم دارالسلام:صحيح لغيره، وهذا إسناد ضعيف الضغف ابن لهيعة، وانظر ما بعده