The Messenger of Allah ﷺ would pray at night while I lay by his side during my menstrual period. A sheet of cloth would be partly on me and partly on him. (Using translation from Abū Dāʾūd 370)
كَانَ رَسُولُ اللهِ ﷺ يُصَلِّي مِنَ اللَّيْلِ وَأَنَا إِلَى جَانِبِهِ وَأَنَا حَائِضٌ وَعَلَيَّ مِرْطٌ وَعَلَيْهِ بَعْضُهُ