The Messenger of Allah ﷺ used to instruct us, when our menstrual flow was at its peak, to wrap a waist-cloth around ourselves, and then he would be intimate with us. And which of you has the same control over his desire as the Messenger of Allah ﷺ had over his desire?
حدثنا عثمان بن أبي شيبة حدثنا جرير عن الشيباني عن عبد الرحمن بن الأسود عن أبيه
كان رسول الله ﷺ يأمرنا في فوح حيضتنا أن نتزر ثم يباشرنا وأيكم يملك إربه كما كان رسول الله ﷺ يملك إربه
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Bukhari also narrated it, Menstruation, Chapter on touching a menstruating woman, no. 302, and Muslim, Menstruation, Chapter on touching a menstruating woman above the wrap, no. 293, from the hadith of Abu Ishaq Sulayman Shaybani, through the same route.