The Messenger of Allah ﷺ used to be intimate with one of his wives while she was menstruating, provided she wore a wrap covering her from the waist down to mid-thigh or to the knees.
حدثنا يزيد بن خالد بن عبد الله بن موهب الرملي حدثنا الليث بن سعد عن ابن شهاب عن حبيب مولى عروة عن ندبة مولاة ميمونة
أن رسول الله ﷺ كان يباشر المرأة من نسائه وهي حائض إذا كان عليها إزار إلى أنصاف الفخذين أو الركبتين تحتجز به
[Its isnad is hasan]. Nasai narrated it in the Book of Purification, chapter on touching a menstruating woman, no. 288, from the hadith of Layth bin Saad with the same wording. Zuhri explicitly stated that he heard it directly, as recorded by Bayhaqi, 1/313, and Ibn Hibban graded it sahih in Al-Ihsan, 1362.