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»