It is narrated from Sayyiduna Yazid bin Sa'id (may Allah be pleased with him), he says: I heard the Prophet (peace and blessings of Allah be upon him) say: "None of you should take his companion's belongings, neither in jest nor in seriousness, so much so that if any of you takes his companion's staff, he should return it."
Hadith Referenceالادب المفرد / كتاب الانبساط إلى الناس / 241
Hadith Gradingالألبانی:حسن
Hadith Takhrij«حسن : أخرجه أبوداؤد ، الأدب ، باب من يأخذ الشئ من مزاح : 5003 و الترمذي : 2160 - الإرواء : 1518»
Explanation & Benefits
Shaykh Maulana Usman Muneeb
Benefits and Issues: The point is that to take someone’s belonging seriously is theft, which is never permissible in any circumstance. As for taking someone’s thing in jest, there are two harms in this: firstly, the person whose item is taken will be unnecessarily distressed, and the Messenger of Allah (sallallahu alayhi wa sallam) has said: “It is forbidden to frighten or distress a Muslim.” (Sunan Abi Dawud, Hadith: 4184) The second harm is that, due to an item taken in jest, sometimes malice and resentment are created, doubts and suspicions arise, and at times, if the matter becomes serious, a person hesitates to return the item, and as a result, develops the habit of stealing. Therefore, the Messenger of Allah (sallallahu alayhi wa sallam) has instructed that if, in someone’s absence, there arises a need to take even a trivial belonging of theirs, and a person does take it, then it should also be returned.
Source: Fadlullah al-Ahad: Urdu Commentary on al-Adab al-Mufrad, Page: 241