Fiqh-us-Sunnah Volume 1, Purification and Prayer, Fiqh 1.032.

Section : Rubbing the limbs with water.

This means to rub the hands over the bodily parts with water. ‘Abdullah ibn Zaid reported that the Messenger of Allah was brought a pot of water which he used to perform ablution, and then rubbed his arms. (Related by Ibn Khuzaimah.) He also related that the Messenger of Allah performed ablution, then rubbed his limbs. (Related by Abu Dawud at-Tayalisi, Ahmad, Ibn Hibban and Abu Ya’la.)