Question 113: What is the ruling on a husband sleeping by his wife in one bed and fondling her with desire, without having sexual intercourse or semen discharges, should he perform Ghusl (ritual bath) in this case?
Answer: All praise be to Allaah Alone, and peace and blessings be upon His Messenger, and his family and Companions. If a man sleeps by his wife and touches her with desire but neither penile penetration into the vulva nor ejaculation takes place, Ghusl (ritual bath) is not required of him.
Question 113: I hope that you will explain to us the difference between major and minor ritual impurity. Also, if a person has a sexual dream and discharges one or two drops of Maniy (spermatic fluid), is it permissible for him to remove it with water instead of performing Ghusl (ritual bath) following major ritual impurity?
Answer: Minor ritual impurity is that which nullifies Wudoo’ (ablution) only, like sleeping, urination, eating camel meat and such like, whereas major ritual impurity is that which necessitates performing Ghusl, like when Maniy is emitted in spurts accompanied with feelings of pleasure, and when the tip of the penis penetrates into the vulva. In case a man has a sexual dream and sees Maniy, even if one drop, it is obligatory on him to perform Ghusl… read more here.