Leviticus 15:5, 10, 21

Anyone who touches his bed must wash their clothes and bathe with water, and they will be unclean till evening.

and whoever touches any of the things that were under him will be unclean till evening; whoever picks up those things must wash their clothes and bathe with water, and they will be unclean till evening.

Anyone who touches her bed will be unclean; they must wash their clothes and bathe with water, and they will be unclean till evening.