Sayyiduna Miswar bin Makhramah (may Allah be pleased with him) narrates: I came carrying a stone, and I had a light waist-wrapper on me, and it came undone. Because I was holding the stone, I could not pick it up. I took the stone to its place, and the Messenger of Allah (peace and blessings be upon him) said: "Go and pick up your garment and tie on your waist-wrapper; do not walk about naked."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3212