وكان عليه الصلاة والسلام إذا أمطرت السماء خلع ثيابه وتجرد حتى يصيبه المطر
Whenever it rained, He (prayers and peace upon him) would take off his clothes and get naked so He could get rained on.
in Commentary of Al-Qurtubi [Tafsir Al-Qurtubi] on Quran 20:84