Is it permissible for a spouse to look at and touch the entirety of the other spouse's body?

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It is permissible for each spouse to look at and touch the entire body of the other spouse, including the private parts (al-farj). This is established by the narration of Bahz ibn Hakim from his father, from his grandfather, who asked the Messenger of Allah (peace be upon him): "What of our private parts should we guard, and what may we leave aside?" The Prophet replied: "Guard your private parts except from your wife and what your right hand possesses." This hadith was narrated by Al-Tirmidhi and graded as Hasan (good). Furthermore, since the private parts are lawful for the spouse to derive pleasure from, looking at and touching them is permitted, similar to the rest of the body.