‘Umar bin ‘Abd al-’Aziz [Rahimahullah] used to say: “None can reach the state of taqwa until he possesses neither actions nor words that can be exposed to his embarrassment, either in this World or the Hereafter.”
He was also once asked: “When does the worshipper reach the peak of piety?” He replied: “If he puts all the thoughts and desires in his heart on a plate and then wandered around in the market, he should not feel ashamed of anything there.”
[‘Min Akhlaq as-Salaf’; p. 56]
Amirul Muminin 'Umar Ibn 'Abdul Aziz [Rahimahullah] 