Qais bin Talq Al-Hanafi narrated that his father said:
"I heard the Messenger of Allah being asked about touching the penis. He said: 'That does not require ablution, because it is a part of you (your body).'"

حَدَّثَنَا عَلِيُّ بْنُ مُحَمَّدٍ، حَدَّثَنَا وَكِيعٌ، حَدَّثَنَا مُحَمَّدُ بْنُ جَابِرٍ، قَالَ سَمِعْتُ قَيْسَ بْنَ طَلْقٍ الْحَنَفِيَّ، عَنْ أَبِيهِ، قَالَ سَمِعْتُ رَسُولَ اللَّهِ ـ ﷺ ـ سُئِلَ عَنْ مَسِّ الذَّكَرِ فَقَالَ " لَيْسَ فِيهِ وُضُوءٌ إِنَّمَا هُوَ مِنْكَ " .