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.
عَنْ بَعْضِ أَزْوَاجِ النَّبِيِّ ﷺ أَنَّ النَّبِيَّ ﷺ كَانَ إِذَا أَرَادَ مِنَ الْحَائِضِ شَيْئًا أَلْقَى عَلَى فَرْجِهَا ثَوْبًا
[Machine] Some of the wives of the Prophet ﷺ said that when the Prophet ﷺ wanted something from his wife who was menstruating, he would command her to place a cloth on her private part, then he would proceed with what he desired. Abu Bakr said, "All of the wives of the Prophet ﷺ are trustworthy."
عَنْ بَعْضِ أَزْوَاجِ النَّبِيِّ ﷺ أَنَّ النَّبِيَّ ﷺ كَانَ إِذَا أَرَادَ مِنَ الْحَائِضِ شَيْئًا أَمَرَهَا فَأَلْقَتْ عَلَى فَرْجِهَا ثَوْبًا ثُمَّ صَنَعَ مَا أَرَادَ قَالَ أَبُو بَكْرِ وَكُلُّ أَزْوَاجِ النَّبِيِّ ﷺ ثِقَاتٌ