'Aishah said; When the Messenger of Allah (May peace be upon him) intended to take a bath because of sexual defilement, he would begin with his hands and wash them. Then he would wash the joints of his limbs and pour water upon him when he cleansed both his (hands), he would rub them on the wall (to make them perfectly clean with the dust). Then he would perform ablution and pour water over his head.
Source: sunnah.com
Other translations
Arabic
حَدَّثَنَا عَمْرُو بْنُ عَلِيٍّ الْبَاهِلِيُّ، حَدَّثَنَا مُحَمَّدُ بْنُ أَبِي عَدِيٍّ، حَدَّثَنِي سَعِيدٌ، عَنْ أَبِي مَعْشَرٍ، عَنِ النَّخَعِيِّ، عَنِ الأَسْوَدِ، عَنْ عَائِشَةَ، قَالَتْ كَانَ رَسُولُ اللَّهِ صلى الله عليه وسلم إِذَا أَرَادَ أَنْ يَغْتَسِلَ مِنَ الْجَنَابَةِ بَدَأَ بِكَفَّيْهِ فَغَسَلَهُمَا ثُمَّ غَسَلَ مَرَافِغَهُ وَأَفَاضَ عَلَيْهِ الْمَاءَ فَإِذَا أَنْقَاهُمَا أَهْوَى بِهِمَا إِلَى حَائِطٍ ثُمَّ يَسْتَقْبِلُ الْوُضُوءَ وَيُفِيضُ الْمَاءَ عَلَى رَأْسِهِ .
sunnah.com