Concerning this, Sheikh Mohammed Ali Al-Hanooti said:

There is no authentic hadith that restricts sexual activities between a husband and wife, except intercourse being prohibited during menstruation or nifas (postnatal bleeding) and of course anal sex. Aside from these restrictions, any other activity is halal. The hadiths narrated in reference to exposure of husband’s and wife’s bodies to each other, in general, are not authentic.

Generally speaking, however, the gratification of sexual desire is one of the basic objectives of the marital relationship. The wife’s moving her hands over her body during the sexual relation is just like her husband’s moving his hands over her body, which is undoubtedly permissible. If she will get used to the first, she will get used to the second. But what is lawful during the sexual relation between man and his wife is prohibited outside the bond of marriage