I lifted a heavy stone. While I was walking my garment fell down. The Messenger of Allah ﷺ said to me: Take you garment upon you, and do not walk naked.  

حَمَلْتُ حَجَرًا ثَقِيلاً فَبَيْنَا أَمْشِي فَسَقَطَ عَنِّي ثَوْبِي فَقَالَ لِي رَسُولُ اللَّهِ ﷺ خُذْ عَلَيْكَ ثَوْبَكَ وَلاَ تَمْشُوا عُرَاةً  

I said: Messenger of Allah, from whom should we conceal our private parts and to whom can we show? He replied: conceal your private parts except from your wife and from whom your right hands possess (slave-girls). I then asked: Messenger of Allah, (what should we do), if the people are assembled together? He replied: If it is within your power that no one looks at it, then no one should look at it. I then asked: Messenger of Allah if one of us is alone, (what should he do)? He replied: Allah is more entitled than people that bashfulness should be shown to him.  

قُلْتُ يَا رَسُولَ اللَّهِ عَوْرَاتُنَا مَا نَأْتِي مِنْهَا وَمَا نَذَرُ قَالَ احْفَظْ عَوْرَتَكَ إِلاَّ مِنْ زَوْجَتِكَ أَوْ مَا مَلَكَتْ يَمِينُكَ قَالَ قُلْتُ يَا رَسُولَ اللَّهِ إِذَا كَانَ الْقَوْمُ بَعْضُهُمْ فِي بَعْضٍ قَالَ إِنِ اسْتَطَعْتَ أَنْ لاَ يَرَيَنَّهَا أَحَدٌ فَلاَ يَرَيَنَّهَا قَالَ قُلْتُ يَا رَسُولَ اللَّهِ إِذَا كَانَ أَحَدُنَا خَالِيًا قَالَ اللَّهُ أَحَقُّ أَنْ يُسْتَحْيَا مِنْهُ مِنَ النَّاسِ  

The Prophet ﷺ said: A man should not look at the private parts of another man, and a woman should not look at the private parts of another woman. A man should not lie with another man without wearing lower garment under one cover; and a woman should not be lie with another woman without wearing lower garment under one cover.  

عَنِ النَّبِيِّ ﷺ قَالَ لاَ يَنْظُرُ الرَّجُلُ إِلَى عُرْيَةِ الرَّجُلِ وَلاَ الْمَرْأَةُ إِلَى عُرْيَةِ الْمَرْأَةِ وَلاَ يُفْضِي الرَّجُلُ إِلَى الرَّجُلِ فِي ثَوْبٍ وَاحِدٍ وَلاَ تُفْضِي الْمَرْأَةُ إِلَى الْمَرْأَةِ فِي ثَوْبٍ  

The Prophet ﷺ said: A man should not lie with another man and a woman should not lie with another woman without covering their private parts except a child or a father. He also mentioned a third thing which I forgot.  

قَالَ رَسُولُ اللَّهِ ﷺ لاَ يُفْضِيَنَّ رَجُلٌ إِلَى رَجُلٍ وَلاَ امْرَأَةٌ إِلَى امْرَأَةٍ إِلاَّ وَلَدًا أَوْ وَالِدًا قَالَ وَذَكَرَ الثَّالِثَةَ فَنَسِيتُهَا