(a) It is narrated from Sayyidah Aishah (may Allah be pleased with her) that the Messenger of Allah (peace and blessings be upon him) would lie with her under one sheet and have bodily contact with her, and he had more control over his desire than you. (b) Shu'bah relates that this was after tying on the waist-wrap.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحيض / 1507