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.”.
The Prophet (صلى الله عليه وسلم) said,
“Seeking permission [to enter another person’s private space] has been made compulsory only because of eyesight (i.e. only so that people do not see that which is unlawful for them to see, such as a stranger woman).”
(Bukhari & Muslim)
‘Ata Ibn Yasir (رضى الله عنه) narrated:
“A man asked the Messenger of Allah (صلى الله عليه وسلم) ‘Should I seek permission to enter my mother’s room?’ The Prophet (صلى الله عليه وسلم) answered ‘Yes’. The man said, ‘ We live together in the same house’. The Messenger of Allah (صلى الله عليه وسلم) said ‘Ask permission to join her’. The man argued ‘But I serve her!’ The Prophet (صلى الله عليه وسلم) said ‘Ask for permission. Would you like to see her naked?’ The man replied ‘No’. The prophet (صلى الله عليه وسلم) said ‘Then ask for her permission before entering’.
“A man asked ‘Abdullah ibn Mas’ud(رضى الله عنه) , “Should I ask permission to enter my mother’s room?” He answered, “Yes there are certain circumstances in which you would rather not see her”.
In another narration, Zaynab, the wife of ‘Abdullah ibn Mas’ud said that before opening the door of his house, ‘Abdullah used to make a noise, lest he surprised and embarrassed his family. Likewise:
“A man asked Hudhayfa ibn al-Yaman (رضى الله عنه) , “Should I ask permission to enter my mother’s room?” Hudhayfa replied, “Yes, if you do not ask for her permission, you may cause yourself a needless embarrassment”.
When children reach a certain age they must ask permission and be taught to establish prayer. Allah (حانه وتعالى) says in the Quran:
“And when the children come of age, let them ask for permission, as do those senior to them in age; thus does Allah make clear His signs. Allah is all-knowing all wise”
(Quran 24: 59)