حَدَّثَنِي يَحْيَى، عَنْ مَالِكٍ، عَنِ ابْنِ شِهَابٍ، عَنْ سَالِمِ بْنِ عَبْدِ اللَّهِ، عَنْ أَبِيهِ عَبْدِ اللَّهِ بْنِ عُمَرَ، أَنَّهُ كَانَ يَقُولُ قُبْلَةُ الرَّجُلِ امْرَأَتَهُ وَجَسُّهَا بِيَدِهِ مِنَ الْمُلاَمَسَةِ فَمَنْ قَبَّلَ امْرَأَتَهُ أَوْ جَسَّهَا بِيَدِهِ فَعَلَيْهِ الْوُضُوءُ ‏.‏

Yahya related to me from Malik from Ibn Shihab from Salim ibnAbdullah that his father Abdullah ibn Umar used to say, "A man'skissing his wife and fondling her with his hands are part ofintercourse. Someone who kisses his wife or fondles her with his handmust do wudu." Translation Not Available

Book Ref: Muwatta Imam Malik Book 2 Hadith 96
Web Ref:  Muwatta Imam Malik Book 2 Hadith 66