Sunan Ibn Majah, Chapter: The Chapters on Marriage

from his father that his grandfather said: "I said: 'O Messenger of Allah (saw), with regard to our 'Awrah, what may we uncover of it and what must we conceal?' He said: 'Cover your Awrah, except from your wife and those whom your right hand possesses.' I said: 'O Messenger of Allah (saw), what if the people live close together?' He said: 'If you can make sure that no one sees it, then do not let anyone see it.' I said: 'O Messenger of Allah (saw), what if one of us is alone?' He said: 'Allah is more deserving that you should feel shy before Him than People.' "