The Prophet ﷺ used to embrace me during my menses. He also used to put his head out of the mosque while he was in Iʿtikaf, and I would wash it during my menses.  

كَانَ النَّبِيُّ ﷺ يُبَاشِرُنِي وَأَنَا حَائِضٌ وَكَانَ يُخْرِجُ رَأْسَهُ مِنَ الْمَسْجِدِ وَهْوَ مُعْتَكِفٌ فَأَغْسِلُهُ وَأَنَا حَائِضٌ