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 بِاللَّيْلِ وَأَنَا إِلَى جَنْبِهِ وَأَنَا حَائِضٌ وَعَلَيَّ مِرْطٌ بَعْضُهُ عَلَى رَسُولِ اللهِ ﷺ»