Short Answer

The part of a woman’s body which must be covered in front of other women (called `awrah) is from the navel to the knees. So a woman should not uncover her thigh even in front of her mother, sister, or close friend.

What the Prophet Said

“A man should not look at the private parts (`awrah) of another man nor should a woman look at the private parts of another woman.” Sahih Muslim #338

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Shaykh Mustafa Umar