What is the meaning of guarding against urine, and what is the ruling on the water that falls as a result of cleaning the private parts onto the underwear? Does it make it ritually impure?

Question:
May Allah reward you with good. What is the meaning of guarding against urine? And what is the ruling on the water that falls as a result of cleaning the private parts onto the underwear? Does it make it ritually impure? May Allah reward you with good.

Answer:
Guarding against urine means either that a person, when he urinates, should conceal himself from people, not urinate in front of people, and not expose his 'awrah (the part of the body that must be covered). Or, may Allah know best, it means that a person should take care to prevent urine from hitting his clothing or his body. The Prophet (peace and blessings be upon him) mentioned regarding the man who is punished in his grave that he did not guard against urine, meaning he did not take care to prevent urine from hitting his body or his clothes, so he would pray while in a state of ritual impurity, and for that reason he was punished in his grave. He said: So two things are required: first, when a person wants to relieve himself by urinating or defecating, he should conceal himself from people and not expose his 'awrah in front of people. The second thing is that he should take care to prevent urine or the spray of urine from hitting him, and he should choose a soft, sloping place to urinate so that his urine or its spray does not return to him. As for the water of wudu' (the ablution for prayer) that falls from the private parts onto the body, it is pure, and praise be to Allah. If it hits the body or the clothes, it has no effect because it is pure water. Yes.