Abu Layla (RA) says that Usayd bin Hudayr (RA) was a good man who was always smiling and jovial. One day he was busy speaking to some people in the presence of Rasulullah (Sallallahu alayhi wa sallam) and was making them laugh.
Rasulullah (Sallallahu alayhi wa sallam) poked his side, “You’ve hurt me” he complained. “Then take your revenge,” replied Rasulullah (Sallallahu alayhi wa sallam) . Usayd RA remarked, But you have a upper garment on while I do not.
Rasullullah (Sallallahu alayhi wa sallam) raised his upper garment, Usayd immediately embraced Rasulullah (Sallallahu alayhi wa sallam) and kissed his blessed sides. He said, “May my parents be sacrificed for you O Rasullullah sallallahu alaiyhi wassallam, this is all I wanted to do.”
Adapted from Hayatus Sahabah
Muslims First 