In the description of the Prophet's ﷺ Hajj, he ﷺ said during the Farewell Pilgrimage, "Fear Allah regarding women, for you have taken them as a trust from Allah, and you have made their private parts lawful through the word of Allah. You have the right over them that they not allow anyone you dislike to sit on your bedding. If they do so, then strike them in a way that causes no harm. And they have the right over you that you provide for their food and clothing in a fair manner."
في صفة حجة النبي ﷺ أنه ﷺ قال في حجة الوداع: فاتقوا الله في النساء، فإنكم أخذتموهن بأمان الله، واستحللتم فروجهن بكلمة الله، ولكم عليهن أن لا يوطئن فرشكم أحدا تكرهونه، فإن فعلن ذلك فاضربوهن ضربا غير مبرح، ولهن عليكم رزقهن وكسوتهن بالمعروف.
Muslim narrated it in the book of Hajj (1218) through several routes from Hatim bin Ismail Madani, from Jafar bin Muhammad, from his father, from Jabir, and he mentioned it in a long hadith.As for his statement, "without causing injury," it means, as the jurists have said, that one should not break any of its limbs or cause it any lasting harm.