I think that, if the activity is meant to be a sexual release or end unto itself, that's not OK. Like, bringing yourself or your husband to satisfaction, it's an act unto itself.
However, I think if it is meant to be a prelude to later intercourse, that is OK. What I mean is, you don't have to intend to have sex right that minute, but if you are for example, planning on being intimate later after the kids are in bed or when you get home from work, it's OK to set up some anticipation. I know that it is sometimes fun to spend the day in anticipation of being intimate later, so a deep kiss or some caressing etc., in the morning before you leave can really "get you in the mood" for later, and it means you are sort of making a date to make love later. Then, when you get home you are not starting from zero if you know what I mean! :)