The Prophet (ﷺ) prayed on a sheet of cloth put on by one of his wives who was menstruating. He was praying while (a part of) it was upon him.
Sunan Abi Dawud Book 1, Hadith 369
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Sunan Abi Dawud Book 1, Hadith 368 Next Hadith → 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.

Sunan Abi Dawud Book 1, Hadith 370