Muhammad placed his penis between the thighs of Aisha and he massaged it to orgasm since he could not have sexual intercourse with her until she was nine.
"It is not illegal for an adult male to 'thigh' or enjoy a young girl who is still in the age of weaning; meaning to place his male member between her thighs, and to kiss her."
Ayatu Allah Al Khumaini's, "Tahrir Al wasila," p. 241, issue number 12