Taking an Item from Husband's Bag During Niddah Days
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Question
Is it permissible for me to take something from a large bag that my husband carries when we are prohibited? For example, to take a baby's bottle from a bag that is on my husband?
Answer
Shalom Rav,
It is advisable to be stringent and wait for the husband to put down the bag. However, there is no prohibition according to the law. Therefore, in a case where it is difficult to wait, and for example, in the case you asked about, when the baby urgently needs the bottle, it is permissible to take from the bag if it will take time until he can put down the bag.
Source
Shulchan Aruch, Yoreh De'ah, Siman 195