Wa `alaykum As-Salamu waRahmatullahi wa Barakatuh.

In the Name of Allah, the All-Merciful, the Mercy-Giving.

All praise is due to Allah. Peace and blessings be upon His Messenger.

Touching a woman with a desire is a sinful act that requires sincere repentance. In a prophetic narration, authenticated by trustworthy scholars, the Messenger of Allah (peace be upon him), warned, “Having his head stabbed with an iron needle is better for one of you than to touch a woman who is not lawful for him [to touch].” At-Tabarani and Al-Bayhaqi)

In another hadith, the Messenger of Allah (peace be upon him) considered this unlawful touch as a degree of zina.

However, such a prohibited touch, just like a prohibited look, has no consequences with regard to the legal relation with the touched woman. So, a man may marry this woman or any of her female relatives.

Almighty Allah knows best.