Ibn ‘Umar told how ‘Umar b. al-Khattab mentioned to God’s messenger that he was affected by seminal defilement during the night, and was told to perform ablution, wash his penis, and go back to sleep.
Abu Sa'id al-Khudri reported God’s messenger as saying, “When any of you has intercourse with his wife and wishes to repeat it, he must perform ablution between the two acts.”
God’s messenger met me when I was sexually defiled, took my hand and I walked with him. When he sat down I withdrew, and after I had gone home and washed I came back and found the Prophet still seated. He asked, “Where have you been, Abu Huraira?” I told him, and he said, “Glory be to God! The believer does not become impure.”
This is Bukhari's wording and Muslim has something to the same effect, but after “I told him” he adds: I said to him, “You met me when I was sexually defiled, and I did not like to sit with you till I had washed.” Bukhari has the same in another version.