Fiqh-us-Sunnah Volume 5, Hajj and ‘Umrah, Fiqh 5.079A.

Ibn Juraij reported: “‘Ata told me that when Ibn Hisham forbade women from performing tawaf along with men he asked him, ‘How dare you prevent them while the wives of the Prophet (peace be upon him) performed tawaf along with other men?’ He added: ‘I asked him: “Did they do so before or after the commandment to observe veil?” He said: “They did so after the revelation of the commandment to veil.” I said: “How could they intermingle with men?” He said: “They did not intermingle with men. ‘Aishah used to perform tawaf keeping apart from men and without intermingling with them. A woman asked her, “O Mother of Believers ! Shall we touch the Black Stone and kiss it? ‘Aishah said: “Get away from here, and she refused to join her. (Bukhari) They used to go disguised at night and perform tawaf with men, but when they entered the Mosque, they would wait and go in when the men left.

Women may touch and kiss the Black Stone when there is an opportunity and no men are around. It is reported that ‘Aishah said to a woman, “Do not crowd with others at the Black Stone, but if you find a chance, touch and kiss it, otherwise if there is crowding, then say a takhir (Allah is the Greatest) when you are opposite to it, and make your tawaf and do not cause any harm to anyone.”