What is the ruling on a man inserting his entire penis into his wife's vagina without ejaculation, and is ghusl (ritual bath) required as a result, and what is the ruling on past prayers and deeds that required ghusl based on this action, due to ignorance?

Ghusl (definition) is obligatory for spouses if intercourse occurs, even if ejaculation does not take place, because the Prophet, peace and blessings be upon him, said: "When he sits between her four limbs and exerts himself, ghusl becomes obligatory," and "If circumcision touches circumcision, then ghusl becomes obligatory." You must make up the missed prayers because they were performed without purification, and purification is a condition for the validity of prayer. If you performed Hajj, it is not valid due to the absence of the circumambulation (Tawaf (definition)) pillar, for which purification is a condition. No expiation is incumbent upon you, but you must make up the obligatory prayers and the obligatory Hajj, learn the rulings of individual obligations (furood al-ayn), and increase in seeking forgiveness for your shortcomings in knowledge of acts of worship.