Narrated Bahz bin Hakim:

from his father, from his grandfather, who said: "I said: 'O Prophet (ﷺ) of Allah! Regarding our 'Awrah, what of it must we cover and what of it may we leave?' He said: 'Protect your 'Awrah except from your wife or what your right hand possesses.' He said: "I said: 'O Messenger of Allah! What about when some people are with others?' He said: 'If you are able to not let anyone see it then do not let them see it.'" He said: "I said: 'O Prophet (ﷺ) of Allah! What about when one of us is alone?' He said: 'Allah is more deserving of being shy from Him than the people.'"

حَدَّثَنَا أَحْمَدُ بْنُ مَنِيعٍ، حَدَّثَنَا مُعَاذُ بْنُ مُعَاذٍ، وَيَزِيدُ بْنُ هَارُونَ، قَالاَ حَدَّثَنَا بَهْزُ بْنُ حَكِيمٍ، عَنْ أَبِيهِ، عَنْ جَدِّهِ، قَالَ قُلْتُ يَا نَبِيَّ اللَّهِ عَوْرَاتُنَا مَا نَأْتِي مِنْهَا وَمَا نَذَرُ قَالَ ‏"‏ احْفَظْ عَوْرَتَكَ إِلاَّ مِنْ زَوْجَتِكَ أَوْ مَا مَلَكَتْ يَمِينُكَ ‏"‏ ‏.‏ قُلْتُ يَا رَسُولَ اللَّهِ إِذَا كَانَ الْقَوْمُ بَعْضُهُمْ فِي بَعْضٍ قَالَ ‏"‏ إِنِ اسْتَطَعْتَ أَنْ لاَ يَرَاهَا أَحَدٌ فَلاَ يَرَيَنَّهَا ‏"‏ ‏.‏ قَالَ قُلْتُ يَا نَبِيَّ اللَّهِ إِذَا كَانَ أَحَدُنَا خَالِيًا قَالَ ‏"‏ فَاللَّهُ أَحَقُّ أَنْ يَسْتَحْيِيَ مِنْهُ النَّاسُ ‏"‏ ‏.‏ قَالَ أَبُو عِيسَى هَذَا حَدِيثٌ حَسَنٌ ‏.‏