An-Nur 24:62 انما المومنون الذين امنوا بالله ورسوله واذا كانوا معه على امر جامع لم يذهبوا حتى يستاذنوه ان الذين يستاذنونك اولايك الذين يومنون بالله ورسوله فاذا استاذنوك لبعض شانهم فاذن لمن شيت منهم واستغفر لهم الله ان الله غفور رحيم ٦٢

Asking Permission to leave when They are doing something together

This is another matter of etiquette to which Allah has guided His believing servants. Just as He commanded them to seek permission when entering, He also commanded them to seek permission when leaving, especially when they are doing so