The ruling on a daughter exposing the 'awrah of her incapacitated father

Question:
May Allah reward you, O honorable Shaykh. A questioner says: A man is ill and unable to serve himself, so his daughter cleans him and exposes his 'awrah. He asks: Is this permissible?

Answer:
It is permissible out of dire necessity, and there is nothing wrong with it. However, she must place a barrier on her hand and not touch his private parts directly; she should put a barrier on her hand, such as a bag or anything else. Also, she should cover his private parts and insert her hand from under the covering to clean and wash him from under the covering.