It is narrated from Sayyiduna Usayd bin Hudayr (may Allah be pleased with him), a man of the Ansar, that one day he was talking to the people, and he had humour in him, making them laugh, when the Prophet (peace and blessings be upon him) poked him in his side with a stick. He said: "Shall I take retaliation for it?" He (peace and blessings be upon him) said: "Take retaliation." He said: "You are wearing a shirt, while my body had no shirt on it." So he (peace and blessings be upon him) lifted his shirt, and he took hold of him and began kissing his side, and said: "O Messenger of Allah! This (kissing your body) is all I intended."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب النكاح / 13586