Is it permissible for a married man or woman to look at the genitals of the other during intercourse?

It is permissible for each spouse to look at the private parts of the other, whether with or without desire, because the Prophet, peace and blessings be upon him, said: "Guard your 'awrah (private parts) except from your wife or what your right hand possesses." Also, because it is permissible to derive pleasure from the private parts, it is permissible to look at them, just like any other part of the body. And since touching and intercourse, which are beyond mere looking, are permissible, then looking is all the more permissible. However, it is better not to look, due to what was narrated from Aisha, may Allah be pleased with her: "The Messenger of Allah, peace and blessings be upon him, passed away and he had not seen me, nor had I seen him (meaning, each other's private parts)." If this narration is authentic, it is a matter of noble character and not an indication of prohibition.