Praise be to Allah.
The nature of human imperfection
Please note that you will never be able to live your life without sins and mistakes. This is the nature of man. The Prophet (peace and blessings of Allah be upon him) said: “Every son of Adam commits sin, and the best of those who commit sin are those who repent.” (Narrated by At-Tirmidhi, 2499 and Ibn Majah, 4251. It was classed as sound by Al-Albani in Sahih At-Tirmidhi)
This Hadith clearly indicates that man will inevitably commit sin, but what matters after that is what he does about his sin. The believer repents to Allah from all his sins, gives them up and asks Allah for forgiveness every time he commits a sin, and he regrets doing it and resolves sincerely not to do it again. If you do that, then understand that Allah is Oft-Forgiving, Most Merciful; He forgives all sins for the righteous believer who repents sincerely and admits his sin humbly before Allah. Allah says (interpretation of the meaning): {Say: O My slaves! who have transgressed against themselves (by committing evil deeds and sins)! Despair not of the Mercy of Allah, verily, Allah forgives all sins. Truly, He is Oft-Forgiving, Most Merciful.} [Az-Zumar 39:53]
Is kissing one’s wife in public Zina?
The sin that you have admitted to is not Zina with your wife! Rather it is kissing her in front of other people, because there is no Zina with one's wife, rather Zina is done with a woman whom it is not permissible for a man to touch . But in the case of a wife, it is permissible to touch her.
Is it prohibited to kiss your wife in public?
It is not permissible for a man or a woman to speak to anyone else of what happens between them in bed which no one else should see but them, because of the evils and temptations that result from that and because it opens the door to the devil. This has to do with one who speaks about what he did with his wife, so how about one who does things in front of people where they can see him!
Shaykh Muhammad ibn Ibrahim (may Allah have mercy on him) said in his Fatawa (10/277) that kissing one’s wife in front of people is not permissible .
Expiation for kissing one’s wife in public
As for the expiation for this sin , there is no expiation except sincere repentance and firm resolve not to do it again, and true regret for having committed this sin.
As for confessing to your parents, there is no need for that. The sin that you have admitted to is a sin against Allah, so confession should be made to Allah. It is between you and Allah and you should not tell anyone about it, but be sincere in your repentance to Allah and Allah will forgive you. Allah is Oft-Forgiving, Most Merciful.
The fact that your wife is the one who told you to do this deed does not mean that she is not a righteous woman or that she does not fear Allah. You also agreed with her to do it, and you did not stop even when that man saw you. So you should also shoulder your share of responsibility for what you did.
May Allah help you to do that which He loves and which pleases Him.
And Allah knows best.
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