How did the Prophet, peace and blessings be upon him, have intercourse with his wives? Did he see anything from them or speak of anything during that? Is there any harm if the husband sees something from his wife while she dislikes it? And is he sinful if he insists on seeing that?

The Prophet, peace and blessings be upon him, used to bathe with one of his wives, and would see from her what he would see. Muslim and Bukhari narrated from Aisha that she and the Messenger of Allah, peace and blessings be upon him, used to bathe from a single vessel. Scholars have used this hadith (definition) as evidence for the permissibility of a man looking at his wife's private parts and vice versa. However, some scholars have held the view that it is disliked or forbidden for a man to look at the private parts without need. Therefore, it is advisable to avoid this to steer clear of differing opinions.