Malik related to me from Safwan ibn Sulaym from Ata ibn Yasarthat the Messenger of Allah, may Allah bless him and grant him peace,was questioned by a man who said, "Messenger of Allah, shall I askpermission of my mother to enter?" He said, "Yes " The man said, "Ilive with her in the house". The Messenger of Allah, may Allah blesshim and grant him peace, said "Ask her permission." The man said, "Iam her servant." The Messenger of Allah. may Allah bless him and granthim peace, said, "Ask her permission. Do you want to see her naked?"He said, "No." He said, "Then ask her permission."
USC-MSA web (English) reference: Book 54, Hadith 1
Arabic reference: Book 54, Hadith 1766