When I menstruated, I left the bed and lay on the reed-mat and did not approach or come near the Messenger of Allah (ﷺ) until we were purified.
Sunan Abi Dawud Book 1, Hadith 271
← Previous Hadith Umarah ibn Ghurab said that his paternal aunt narrated to him that she asked Aisha: What if one of us menstruates and she and her husband have no bed except one? She replied: I relate to you what the Messenger of Allah (ﷺ) had done.

One night he entered (upon me) while I was menstruating. He went to the place of his prayer, that is, to the place of prayer reserved (for this purpose) in his house. He did not return until I felt asleep heavily, and he felt pain from cold. And he said: Come near me. I said: I am menstruating. He said: Uncover your thighs. I, therefore, uncovered both of my thighs. Then he put his cheek and chest on my thighs and I lent upon he until he became warm and slept.

Sunan Abi Dawud Book 1, Hadith 270 Next Hadith → Ikrimah reported on the authority of one of the wives of the Prophet (ﷺ) saying: When the Prophet (ﷺ) wanted to do something (i.e. kissing, embracing) with (his) menstruating wife, he would put a garment on her private part.

Sunan Abi Dawud Book 1, Hadith 272