Mr Clinton was asked whether his relationship with Ms Lewinsky had included "any sexual contact in any way, shape or form".
The President confirmed that he and Ms Lewinsky had taken part in what he termed "inappropriate intimate contact".
And he added: "I said in the statement that I would like to stay in the terms of the statement. I think it is clear what `inappropriate intimate contact' is.
"It did not include sexual intercourse and I did not believe it included contact within the definition I was given in the Jones case."
Mr Clinton cleared his throat and took a sip of water as he was questioned about the definition of "sexual relations" used in the Paula Jones case.
He said: "My understanding of this definition is it covers contact by the person being deposed with the enumerated areas if the contact is done with an intent to arouse or gratify."
Mr Clinton said kissing did not come under the definition outlined in the Paula Jones deposition. Asked what acts were included, Mr Clinton said: "If you contacted those parts of the body with an intent to arouse or gratify, then it's covered."
As other technical definitions of sexual relations were discussed, the President said there was "never any issue of forcing in this case". He again sipped from his glass of water and reiterated his definition of sex when pressed by the prosecutor if it included only "substantial sexual activity".
After several minutes of discussions regarding the legal definition of the term "sexual relations", Mr Clinton was asked about an affidavit signed by Ms Lewinsky in the Jones case, in which she denied having a "sexual relationship" with the President.
He said: "I believe that at the time that she filled out this affidavit, if she believed that the definition of `sexual relationship' was two people having intercourse, then she was accurate. I believe that that is the definition that most ordinary Americans would give.
"If you said `Jane and Harry had a sexual relationship' - and we are not talking about people being drawn into a law-suit and being given definitions and great efforts being made to trip them in some way, but you are just talking about people in ordinary conversation - I bet that the grand jurors, if they were talking about two people they knew and said they had a sexual relationship, they meant they were sleeping together, they meant they were having intercourse together.
"So I'm not at all sure that this affidavit was not true and was not true in Miss Lewinsky's mind at the time she swore it out."
Mr Clinton denied having planned with Ms Lewinsky what she should write in her affidavit in the Jones case.
He said: "I didn't talk to her about her definition. I did not know what was in this affidavit before it was filled out, specifically. I did not know what words were used, specifically, before it was filled out, or what meaning she gave to them.
"It's certainly true what she says here, that there was no employment or benefit in exchange and it didn't have anything to do with sexual harassment, and if she defines sexual relationship in the way I think most Americans do - meaning intercourse - then she told the truth."
Asked if his definition of a sexual relationship was intercourse only, Mr Clinton said: "No, not necessarily intercourse only, but it would include intercourse.
"I believe that the common understanding of the term, if you say, two people are having a sexual relationship, most people believe that includes intercourse."
He added: "I would have thought that that's what nearly everybody thought it meant."
AS THE questioning of Mr Clinton drew to a close, a question asked at the request of one member of the grand jury again focused on sex. Asked directly if Ms Lewinsky had performed oral sex on him, Mr Clinton said he was not going to answer except to refer to his statement.
He denied that on August 6th - the day Ms Lewinsky testified to the jury - he wore a tie given to him by Ms Lewinsky as some kind of signal to her when she gave evidence.
"I don't believe she gave me this tie, I don't remember her giving me this tie," he said.
Asked about the availability of certain documents, and whether the White House was under his control, he laughed and joked: "Some days I think it's under my control, some days not."
In the closing minutes of the interview, the President said: "My time and energy in the last five-and-a-half years have been devoted to my job.
"During that five-and-a-half years I have also had to contend with things no previous President has had to contend with."
He said he had tried his best to keep his mind on the job as the Starr inquiry continued and he faced the Paula Jones civil lawsuit.
The President declined to continue the grilling beyond four hours despite members of the grand jury having further questions. Smiling broadly, he thanked the prosecutors as his testimony finished after four hours and three minutes.