What is the ruling on a man intentionally enjoying a woman through contact below the private parts without intercourse?

Primary text

If a man touches a woman and derives pleasure from her below the private parts without intercourse, no fixed punishment (Hadd) is incumbent upon him. This is evidenced by the event where a man admitted to the Prophet (PBUH) receiving pleasure from a woman except through intercourse, after which the verse regarding establishing prayer was revealed, indicating a lesser offense than that requiring Hadd.