What is the ruling on one who holds his young cousins on his lap, then feels lust and something is discharged from his private parts?

It is impermissible to touch someone with lust due to the arousal of desire that results from it. If something is discharged from the person, then if it is manī (seminal fluid), it is pure and necessitates ghusl (ritual bath), and it is recommended to wash it off clothes and the body. However, if it is madhī (pre-seminal fluid), it is impure, invalidates wudu' (ablution), necessitates washing the male organ, and is purified from clothes by sprinkling water (nadh) or washing.