Shomer Negia

(1) Anyone who sleeps with one of the forbidden relationships "by way of limbs", or who hugs and kisses in a sexual way and takes pleasure in physical intimacy, receives lashes for a d'Oraisa transgression, as it says (Leviticus 18:30) "do not do any of these abominable customs etc" and it says (Leviticus 18:6) "do not approach to uncover nakedness", which is to say do not approach things which will bring you to transgressing Arayos.

(1) If one has bodily contact or petting with one of the arayot (people with whom sexual relations are forbidden), or he hugged and had genital contact (literally kissing; c.f. Yevamot 55b) and benefited from nearness of the flesh, he receives (biblically sanctioned) lashes, and in suspected of having relations with arayot. he is liable for death or excision.

(undefined) 1) (18:6) ("A man, a man, to all the kin of his flesh shall not draw near to reveal nakedness; I am the L rd.") What is the intent of "a man, a man"? To include gentiles to be exhorted against illicit relations as Jews are. "You (plural) shall not draw near": What is the intent of this (plural)? Because it is written "a man," I might think that a man is being exhorted against illicit relations with a woman. Whence do I derive the same for a woman vis-à-vis a man? From "You (plural) shall not draw near."