Is it permissible for a husband and wife to sit together unclothed?

The permissibility of a man looking at his wife's 'awrah and vice versa is inferred from the hadith of Aisha (may Allah be pleased with her) regarding her bathing with the Prophet (peace and blessings of Allah be upon him), and that the private parts are permissible for enjoyment, thus it is permissible to look at and touch them. The hadith of Mu'awiyah bin Haydah (may Allah be pleased with him) confirms that the 'awrah of a Muslim is protected except from his spouse. As for the hadith, "When one of you comes to his wife, let him conceal himself," it is weak.