Is it permissible to help one's mother bathe while she is exposing her nakedness, even though she is in good health and capable of handling her own affairs?

The fundamental principle is that it is impermissible to look at the 'awrah (intimate parts) of an adult, except for spouses or out of necessity, such as medical treatment. The 'awrah of a woman in relation to another woman is the area between the navel and the knee.

If the mother is able to perform ghusl (ritual bathing) by herself, then it is not permissible to look at or touch her 'awrah. However, if she is unable to do so and needs assistance, then it is permissible to help her, while limiting the assistance to the extent of the need and being cautious in looking and touching. If she is able to wash herself but requests assistance, she can cover her 'awrah, and the daughter can wash the rest of her body.

Righteousness towards parents is one of the greatest acts of devotion to Allah.