The Messenger of Allah (May peace be upon him) made a concession in the early days of Islam on account of the paucity of clothes that one should not take a bath if one has sexual intercourse (and has no seminal emission). But later on her commanded to take a bath in such a case and prohibited its omission. (Using translation from Abū Dāʾūd 214)
أَخْبَرَهُ أَنَّ رَسُولَ اللهِ ﷺ إِنَّمَا جَعَلَ ذَلِكَ رُخْصَةً لِلنَّاسِ فِي أَوَّلِ الْإِسْلَامِ لِقِلَّةِ الثِّيَابِ ثُمَّ أَمَرَ بِالْغُسْلِ وَنَهَى عَنْ ذَلِكَ وَقَدْ رُوِّينَاهُ بِإِسْنَادٍ آخَرَ مَوْصُولًا صَحِيحًا عَنْ سَهْلِ بْنِ سَعْدٍ