Source: from the book “An Explanation of the conditions,pillars and requirements of Prayer” al-ibaanah publishing
Touching a Woman with Sexual Desire:
The issue of touching a woman is another point the scholars have differed on The scholars have differed on this issue into three opinions:
The First Opinion: Touching a woman nullifies one’s ablution under all circumstances, even if it is not done with sexual desire. So it includes all types of touching. This is the view held by Imaam Ash-Shaafi’ee.
The Second Opinion: Is the one stated by the author, which is that it nullifies the ablution if done with sexual desire.
The Third Opinion: Touching a woman does not nullify one’s ablution in any circumstance. Rather, the only thing that nullifies one ablution is actual sexual intercourse. This is what cancels out ablution and makes ghusl mandatory. This is the opinion of Ibn ‘Abbaas When people would disagree with him on this matter, he would put his fingers in his ears and say: “It only means sexual intercourse.”
“Or you have been in contact with women.” [Surah Al-Maa’idah verse 6]
Regardless if you read the ayah as “Iaamastum” or “lamastum”, the Interpreter of the Qur’aan, ‘Abdullaah bin ‘Abbaas has interpreted the meaning of “contact” here as sexual intercourse. As for all other types of contact besides sexual intercourse, they do not nullify one’s ablution. This is the third opinion, which is the view of the scholars of Hadeeth and the one that we incline towards, if Allaah wills, and Allaah knows best.