All perfect praise be to Allaah, The Lord of the Worlds. I testify that there is none worthy of worship except Allaah, and that Muhammad is His slave and Messenger. We ask Allaah to exalt his mention as well as that of his family and all his companions.
Among the confirmed rules which the scholars established is that permissible things become acts of worship for which the person is rewarded if he has a good intention.
Kissing, hugging, foreplay with one's wife, looking at her and so forth are things which are included in the above if the person intends to preserve his chastity by doing so. For more benefit, please refer to Fatwa 81556.
Finally, it should be noted that it is permissible for the spouses to bathe together and look at each other while naked. So, if you meant by saying that it is a Sunnah that it is confirmed that the Prophet did it, which means that it is a permissible act, then this is correct. However, if you meant that it is a desirable act and so on, then this is not correct.
Allaah Knows best.