Will ghusl be waji in this case?

I want to ask that if me and my wife are sleeping together with dressed up, and hugging each other tightly, if our private parts touch with each other’s private parts, but we are dressed in, do we need to do ghusl or not?

بسم الله الرحمن الرحيم

 

Ghusl will not be wajib in the above mentioned case if semen is not discharged. 

 

Ghusl will not be wajib in the above mentioned case if semen is not discharged. 

Allah knows Best!

Darul Ifta,