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(Muhammad Assad)
24:58 O YOU who have attained to faith! At three times [of day], let [even] those whom you rightfully possess, as well as those from among you who have not yet attained to puberty, ask leave of you [before intruding upon your privacy]: before the prayer of daybreak, and whenever you lay aside your garments in the middle of the day, and after the prayer of nightfall: the three occasions on which your nakedness is likely to be bared. Beyond these [occasions], neither you nor they will incur any sin if they move [freely] about you, attending to [the needs of] one another. In this way God makes clear unto you His messages: for God is all-knowing, wise!24:58
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(Yousaf Ali)
24:58 O ye who believe! let those whom your right hands possess, and the (children) among you who have not come of age ask your permission (before they come to your presence), on three occasions: before morning prayer; the while ye doff your clothes for the noonday heat; and after the late-night prayer: these are your three times of undress: outside those times it is not wrong for you or for them to move about attending to each other: Thus does Allah make clear the Signs to you: for Allah is full of knowledge and wisdom.24:58
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