The Messenger of Allah (ﷺ) contacted and embraced his wives over the waist-wrapper when they were menstruating.
Sahih Muslim Book 3, Hadith 3
← Previous Hadith When anyone amongst us was menstruating the Messenger of Allah (ﷺ) asked her to tie waist-wrapper daring the time when the menstrual blood profusely flowed and then embraced her; and she ('A'isha) observed: And who amongst you can have control over his desires as the Messenger of Allah (ﷺ) had over his desires.

Sahih Muslim Book 3, Hadith 2 Next Hadith → I heard it from Maimuna, the wife of the Messenger of Allah (way peace be upon him): The Messenger of Allah (ﷺ) used to lie with me when I menstruated, and there was a cloth between me and him.

Sahih Muslim Book 3, Hadith 4