In the Middle Ages, people would make use of sticks, moss and other plants. Archaeological findings from cesspits of monasteries in Ireland and Norway included small pieces of cloth that were used like toilet paper.
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The bathing itself consisted of washing the body with sweet smelling oils, or if they could afford it, tallow soap. If they had lots of money, or say, were a Lord or Lady in a castle, they'd 'top and tail' at least twice a day.
We know, for example, that Queen Elizabeth I of England owned three black silk girdles to keep her linen sanitary towels, or vallopes of Holland cloth, held in the right place.