This, then, is a prohibition against either looking at or touching the ʿawrah of one’s peer, for such acts are repugnant and indecent in themselves. When it comes to men with women, the ruling is tied to sexual desire, and thus we have two distinct categories.
There is a third category that pertains to the prayer: even if a woman prays alone, she is commanded to wear a khimar (head-covering) 1, whereas outside the prayer she may uncover her head in her own home. Adorning oneself for the prayer is therefore a right owed to Allah. No one is permitted to circumambulate the House naked 2, even if he were alone at night, nor to perform the prayer naked even in solitude. It follows that the requirement to dress properly for prayer is not meant as a barrier from people’s gaze; rather, this is one matter, and that is another.
Accordingly, during prayer a worshipper may cover something he is allowed to expose outside the prayer, and he may expose something during the prayer that he would normally conceal from other men.
As for the first case: an example is the shoulders, for the Messenger of Allah (peace and blessings be upon him) forbade a man to pray in