Is it permissible to pray in a garment that has been touched by semen?

Scholars have differed concerning the ruling on praying in a garment stained with semen. The reason for this difference stems from their differing opinions on the ruling regarding semen itself, falling into three views: that it is impure like urine and must be washed; or that it is impure but rubbing off the dry stain suffices; or that it is pure but repulsive. The most preponderant opinion is that it is pure but repulsive. This is supported by the action of Aisha (may Allah be pleased with her) who rubbed it off the garment of the Prophet (peace be upon him) and he prayed in it. Her washing it was out of recommendation, not due to impurity. Therefore, praying in a garment stained with semen is permissible, and it is recommended to rub it off or wash it to avoid disagreement.