What is the ruling on one spouse touching the other during ghusl (ritual bathing) after janabah (state of ritual impurity), and is it obligatory to cover oneself from one's spouse while urinating?

There is no objection to a husband and wife bathing together in one place without a cover, and it is permissible for each of them to look at the 'awrah (private parts) of the other, due to the Prophet, peace and blessings be upon him, saying: "Guard your 'awrah except from your wife or what your right hand possesses." This hadith indicates the absolute permissibility of looking at the 'awrah, even though looking at it during urination or defecation is naturally distasteful. As for massage, it does not affect ghusl (ritual bath) unless it results in the emission of semen, and it does not affect wudu' (ablution) according to the most correct opinion.