Silsilat al-Ahadith al-Sahihah

It is narrated from Sayyidah Aisha (may Allah be pleased with her) that the Messenger of Allah (peace and blessings be upon him) used to lie down (with her) while in the state of fasting, and he would place a cloth as a barrier between himself and her (private part).

It is narrated from Sayyidah Aisha (may Allah be pleased with her) that the Prophet (peace and blessings be upon him) used to kiss (his wives) while fasting and would also lie down with them, but he had the greatest control over his desires.