Sahih al-Bukhari - Book 8, Hadith 165
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Narrated Maimuna: The Prophet (ﷺ) used to pray while I used to sleep beside him during my periods (menses) and in prostration his garment used to touch me.
How the Prophet ص modelled this behaviour here
Gentleness & Kind Speech
“The Prophet (ﷺ) used to pray while I used to sleep beside him during my periods (menses)”
Is gentle and soft toward his wife in word and deed; speaks kindly and never with harshness, insult, or contempt.