Full Sharh — Mishkat al-Masabih 2992

English Translation

Bahz b. Hakim, on his father’s authority, told that his grandfather reported God’s Messenger as saying, "Cover your private parts, except from your wife or your female slave,” and said he asked him to tell him what a man might do when alone. He replied, "God has most right to modesty from you.” Tirmidhi, Abu Dawud and Ibn Majah transmitted it.