I first saw this in the 90s so specific details beyond this scene are beyond me.  I’m pretty sure the movie was made in the 60s or 70s.  It has mild nudity (just breasts I believe) which makes me think early 70s but it definitely felt 60s at the time.  The main actor reminds me (several years on now) of Cary Grant or a young Michael Caine but I don’t see anything in their IMDB that fits the scene I remember.

The movie is about a cat burglar (main character) who gets into some trouble and has to either prove his innocence or do a job for someone else, pretty standard fare.  Not sure of the main plot beyond that.  What I do remember is that the movie somewhat starts off with him pilfering the apartment or hotel room of a wealthy older lady who is in the bath at the time while her husband is still downstairs entertaining.  I believe she catches him and won’t let him go until she’s had her fun (I’m not 100% sure about that).  Eventually he does make it out of there and back to his (or his lover’s) place.  She’s fairly young and a dancer so when she arrives complaining of aching feet, he rubs them for awhile before the two turn it up.  Either she complains about him needing to retire or doesn’t know anything about it, I’m leaning towards the latter.

I can say it’s not Gambit or To Catch a Thief as neither has that scene.  Ideas?