Umm al-Mu’minin Sayyida Maymunah (may Allah be pleased with her) said: I placed water for the Prophet (peace be upon him) for (ghusl), so he poured it over his hands, then washed his private part, then rubbed that hand on the ground or on the wall (this is the doubt of Sulaiman), then rinsed his mouth, cleaned his nose, washed his face and hands up to the elbows, and poured water over his blessed head and body. When he finished the ghusl, he moved aside and washed both his feet. I offered him a cloth but he refused and began to wipe off the water with his hand. It is narrated from Sulaiman that Salim said: This was his ghusl for janabah.
From this hadith, the method of performing the ritual bath (ghusl) after major impurity (janabah) is understood: first, impurity should be removed, then after performing ablution (wudu), water should be poured over the entire body, and the feet should be washed after moving away from that place. Wiping the body with a towel is not established from this hadith; however, if one wipes the body with a towel, there is no harm in it, because at times the Prophet sallallahu alayhi wa sallam refrained from it, and at other times he used it as well.