Midrash for Sanhedrin 216:18

(בראשית ח, יט) למשפחותיהם יצאו מן התיבה א"ר יוחנן למשפחותם ולא הם

Whereon R. Johanan observed: From this we deduce that cohabitation had been forbidden.<span class="x" onmousemove="('comment',' Since it is obvious that Noah's wife etc., were to leave the ark with him, the verse must be explained as granting permission for the resumption of marital ties. Hence these were interdicted in the ark. ');">33 Our Rabbis taught: Three copulated in the ark, and they were all punished — the dog, the raven, and Ham. The dog was doomed to be tied, the raven expectorates [his seed into his mate's mouth]. and Ham was smitten in his skin.34

Legends of the Jews

After the sacrifice was completed, God blessed Noah and his sons. He made them to be rulers of the world as Adam had been, and He gave them a command, saying, "Be fruitful and multiply upon the earth," for during their sojourn in the ark, the two sexes, of men and animals alike, had lived apart from each other, because while a public calamity rages continence is becoming even to those who are left unscathed. This law of conduct had been violated by none in the ark except by Ham, by the dog, and by the raven. They all received a punishment. Ham's was that his descendants were men of dark-hued skin.

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