Is the act that took place between the thighs considered zina (fornication/adultery), and is it of a lesser degree than it?

Being lenient in secluding oneself with the maid and looking at her leads to numerous evils. The Prophet, peace and blessings be upon him, warned against seclusion with women. The adultery that necessitates the prescribed punishment (Hadd) is penetration into the vagina. As for the مقدمات الزنا (preliminaries to adultery) such as touching, kissing, and enjoying what is short of intercourse, these are forbidden and heinous. They are punishable by discretionary punishment (Ta'zeer) and discipline, not the Hadd. If this occurs once, it is from the minor sins (Lamam) that Allah forgives by avoiding major sins. However, persistence in it makes it a major sin. One must repent from this and strive to convince the family to dispense with the maid.