The Messenger of Allah ﷺ performed ablution as he would for prayer, except for his feet, and he washed his private parts and whatever filth had reached his body. Then he poured water over himself, after which he moved his feet aside and washed them. This was how he bathed from major ritual impurity.
حدثنا محمد بن يوسف قال حدثنا سفيان عن الأعمش عن سالم بن أبي الجعد عن كريب عن ابن عباس
توضأ رسول الله ﷺ وضوءه للصلاة غير رجليه وغسل فرجه وما أصابه من الأذى ثم أفاض عليه الماء ثم نحى رجليه فغسلهما هذه غسله من الجنابة