Prohibition of two men or two women lying together under one garment

Sayyiduna Jabir (may Allah be pleased with him) narrates: I heard the Messenger of Allah (peace and blessings be upon him) forbidding that two men should lie together in a single cloth with their bodies touching (without any barrier), and likewise that two women should lie together in a single cloth with their bodies touching.
This hadith is sahih (authentic) on the condition of Muslim, but the two Shaykhs (Bukhari and Muslim) did not record it.

It is narrated from Sayyiduna Jabir (may Allah be pleased with him) that the Messenger of Allah (peace and blessings be upon him) forbade that a woman should touch the body of another woman (without clothing), or that a man should touch the body of another man. Ibn Abi Layla says: I hold that this act deserves a discretionary punishment (ta'zir).
Muhammad bin Abd al-Rahman bin Abi Layla belonged to one of the most eminent households of the Companions from the Ansar and was the mufti of his time in Kufah; since he held that there is ta'zir for it, there is a precedent to follow in it.

It is narrated from Sayyiduna Abdullah bin Abbas (may Allah be pleased with them both) that the Messenger of Allah (peace and blessings be upon him) said: "No man should touch the body of another man (at the private parts), nor should a woman touch the body of another woman."
This hadith is sahih (authentic) on the condition of Bukhari, and the two Shaykhs (Bukhari and Muslim) have agreed on the authenticity of this hadith.