Abd al-Rahman bin Abi Layla narrates from his father (may Allah be pleased with him) that Sayyiduna Usayd bin Hudayr (may Allah be pleased with him) was a very good-humoured and cheerful man. Once he was sitting with the Messenger of Allah (peace and blessings be upon him), talking about some people and making him (peace and blessings be upon him) laugh, when he (peace and blessings be upon him) poked him in the side with his finger. He said: "You have hurt me." He (peace and blessings be upon him) said: "Take retaliation." He said: "You are wearing a shirt and I have no shirt on." So he (peace and blessings be upon him) lifted his shirt, and he clung to his (peace and blessings be upon him) blessed body and began kissing it, saying: "O Messenger of Allah! This is what I intended."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الجنايات / 16021