I lifted a heavy stone. While I was walking my garment fell down. The Messenger of Allah (ﷺ) said to me: Take you garment upon you, and do not walk naked.
Sunan Abi Dawud Book 33, Hadith 8
← Previous Hadith The Prophet (ﷺ) said: Do not uncover you thigh, and do not look at the thigh of the living and the dead.

Abu Dawud said: This tradition disagrees with the generally reported traditions (nakarah).

Sunan Abi Dawud Book 33, Hadith 7 Next Hadith → I said: Messenger of Allah, from whom should we conceal our private parts and to whom can we show? He replied: conceal your private parts except from your wife and from whom your right hands possess (slave-girls).

I then asked: Messenger of Allah, (what should we do), if the people are assembled together?

He replied: If it is within your power that no one looks at it, then no one should look at it.

I then asked: Messenger of Allah if one of us is alone, (what should he do)?

He replied: Allah is more entitled than people that bashfulness should be shown to him.

Sunan Abi Dawud Book 33, Hadith 9