Does the act that occurred with thick clothing, accompanied by a sensation of something entering the vagina, constitute zina (fornication/adultery) that necessitates the prescribed punishment (hadd)?

The zina (fornication/adultery) that mandates the prescribed punishment (Hadd) is the penetration of a man's penis into the vagina of a woman unlawful to him. However, anything less than that, in terms of unlawful sexual gratification, is a grave sin. The Prophet, peace and blessings be upon him, referred to it as zina, saying: "The two eyes commit zina through gazing, the two ears commit zina through listening, the tongue commits zina through speech, the hand commits zina through striking, and the foot commits zina through stepping, and the heart yearns and desires, and the private parts either confirm that or deny it."

One must hasten to sincere repentance for this sin, by abandoning it, regretting it, and having a firm resolve not to return to it, and by keeping away from its preliminaries and causes. If the repentance is sincere, Allah will accept it and forgive you, "And it is He who accepts repentance from His servants and pardons evil deeds," and "Say, 'O My servants who have transgressed against themselves [by sinning], do not despair of the mercy of Allah. Indeed, Allah forgives all sins,'" and "The one who repents from sin is like one who has no sin." As long as penetration did not occur, the prescribed legal punishment (Hadd) is not obligatory.