Is it permissible to touch a woman for pleasure?

Touching a woman who is not one's wife is forbidden (haram), whether she is a mahram (unmarriageable kin) by blood relation, fosterage, or other means, if the touching is for pleasure. It is also forbidden even if she is not a mahram, even if it is not for pleasure. Indeed, the Prophet, peace and blessings be upon him, warned against touching a non-mahram woman, saying: "For one of you to be stabbed in the head with an iron needle is better for him than that he should touch a woman who is not lawful for him." As for one's wife, it is permissible for her husband to touch her in all circumstances, whether with desire or without.