Is it permissible to hit or insult someone and joke with them while they are aware of it?

If the person being jested with is harmed by your words or actions, then it is not permissible. This is because jesting, if it reaches the point of harm, becomes mockery, similar to thementality in the words of the commentator: "Speech intended for amusement, provided it does not lead to harm. If it reaches the point of causing harm, it is mockery." However, if no harm is caused, then there is no objection to jesting with words or actions, provided it adheres to the Islamic guidelines, and that there is no excess, slander, or cursing involved.