'Cohabit' in the Bible

Judah recognized the articles, and said, “She has been more righteous [in this matter] than I, because I did not give her to my son Shelah [as I had promised].” And Judah did not have [intimate] relations with her again.

The girl was very beautiful; and she became the king’s nurse and served him, but the king did not cohabit with her.

Now as to the matters of which you wrote: It is good (beneficial, advantageous) for a man not to touch a woman [outside marriage].