Ruling on Wearing Clothes Used During Intimacy for Prayer

Question: Is it permissible to pray in clothes that were worn during marital relations?
Answer: According to the Quran and Sunnah, if the clothing a man wore while having relations with his wife has no impurity on it, then one may pray in that garment. If semen gets on the cloth, then when it is wet, it should be washed off; after washing, if a mark remains on the cloth, there is no harm, and if the semen has dried, it is sufficient to scrape it off. It is narrated from Hadrat Amir Mu’awiyah (may Allah be pleased with him) that he said:
“I asked Umm Habibah (may Allah be pleased with her), who was a wife of the Prophet ﷺ: ‘Did the Prophet ﷺ pray in the garment in which he had marital relations?’ She said: ‘Yes, when he did not see any impurity in it.'”