All perfect praise be to Allaah, The Lord of the Worlds. I testify that there is none worthy of worship except Allaah and that Muhammad, sallallaahu ʻalayhi wa sallam, is His slave and Messenger.
The preponderant view and the one that we hold in this regard is that it is permissible for a man to look at those body parts of his mahram (permanently unmarriageable) women that are mostly visible, such as the face and limbs. However, it is impermissible for him to look at her breasts, let alone touch them. This is the view adopted by the Maalikis and Hanbalis.
Ibn Qudaamah wrote, “It is permissible for the Muslim man to look at those body parts of mahram female relatives that are mostly visible, such as the neck, head, hands, feet, and the like. He is not allowed to look at the body parts that are ordinarily covered, such as the breasts, the back, and the like.”
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Hence, you come to know that sucking milk from your mother's breasts is not allowed and that the absence of sexual feelings does not change the matter. Moreover, it is well-known that there are devices, known as breast pumps (manual or electric), that can be used to remove extra milk when needed.
Allaah knows best.