A man's kissing his wife and feeling her with his hand fall under the meaning of touching, so whoever kisses his wife or feels her with his hand must perform wudu.
حدثني يحيى عن مالك عن ابن شهاب عن سالم بن عبد الله
قبلة الرجل امرأته وجسها بيده من الملامسة فمن قبل امرأته أو جسها بيده فعليه الوضوء