What is the ruling on insulting for the purpose of jest among friends who are accepting of it?

Joking is permissible to a small extent, provided it does not exceed the bounds of etiquette and the manner of knowledge, and is not vulgar, silly, or provocative. Joking that involves insults is a sin and an act of disobedience, and it is condemned by Islamic law, based on the Prophet's (peace and blessings be upon him) saying: "Insulting a Muslim is an act of disobedience." Allah Almighty has commanded us to speak that which is best so that Satan does not incite discord among people.