Sayyiduna al-Hakam bin Umayr (may Allah be pleased with him) said: We were with the Messenger of Allah (peace and blessings be upon him) at a meal, and a man among the people asked the servant of the household for a towel. He (the servant) handed him his own garment, and he wiped his hands with it. So the Messenger of Allah (peace and blessings be upon him) said: "Do not wipe your hands with the garment of someone whom you have not clothed."
Hadith Referenceالمعجم الكبير للطبراني / باب الحاء / 3178