The Messenger of Allah ﷺ used to command one of us, when she was menstruating, to wrap a waist garment around herself, then her husband would lie with her. On one occasion he said, he would have intimate contact with her.
حدثنا مسلم بن إبراهيم حدثنا شعبة عن منصور عن إبراهيم عن الأسود
كان رسول الله ﷺ يأمر إحدانا إذا كانت حائضا أن تتزر ثم يضاجعها زوجها وقال مرة يباشرها
Bukhari narrated it in "Menstruation," the chapter on physical intimacy with a menstruating woman, no. 300, 2030, and Muslim narrated it in "Menstruation," the chapter on physical intimacy with a menstruating woman above the waist wrapper, no. 293, from the hadith of Mansur, through this same chain.