لَيْسَ عَلَى الْأَعْمَى حَرَجٌ وَلَا عَلَى الْأَعْرَجِ حَرَجٌ وَلَا عَلَى الْمَرِيضِ حَرَجٌ وَلَا عَلَى أَنْفُسِكُمْ أَنْ تَأْكُلُوا مِنْ بُيُوتِكُمْ أَوْ بُيُوتِ آبَائِكُمْ أَوْ بُيُوتِ أُمَّهَاتِكُمْ أَوْ بُيُوتِ إِخْوَانِكُمْ أَوْ بُيُوتِ أَخَوَاتِكُمْ أَوْ بُيُوتِ أَعْمَامِكُمْ أَوْ بُيُوتِ عَمَّاتِكُمْ أَوْ بُيُوتِ أَخْوَالِكُمْ أَوْ بُيُوتِ خَالَاتِكُمْ أَوْ مَا مَلَكْتُمْ مَفَاتِحَهُ أَوْ صَدِيقِكُمْ لَيْسَ عَلَيْكُمْ جُنَاحٌ أَنْ تَأْكُلُوا جَمِيعًا أَوْ أَشْتَاتًا فَإِذَا دَخَلْتُمْ بُيُوتًا فَسَلِّمُوا عَلَى أَنْفُسِكُمْ تَحِيَّةً مِنْ عِنْدِ اللَّهِ مُبَارَكَةً طَيِّبَةً كَذَلِكَ يُبَيِّنُ اللَّهُ لَكُمُ الْآيَاتِ لَعَلَّكُمْ تَعْقِلُونَ ﴿۶۱﴾

﴾61﴿ Laisa 'alal a'maa harajunw wa laa 'alal a'raji harajunw wa laa 'alal mareedi harajun wa laa 'alaa anfusikum 'an ta'kuloo min buyootikum aw buyooti aabaaa'ikum aw buyooti ummahaatikum aw buyooti ikhwaanikum aw buyooti akhawaatikum aw buyooti a'maamikum aw buyooti 'ammaatikum aw buyooti akhwaalikum aw buyooti khaalaatikum aw maa malaktum mafaatihahooo aw sadeeqikum; laisa 'alaikum junaahun 'an ta'kuloo jamee'an aw ashtaata; fa izaa dakhaltum buyootan fa sallimoo 'alaaa anfusikum tahiyyatan min 'indil laahi mubaarakatan taiyibah; kazaalika yubai yinul laahu lakumul Aayaati la'allakum ta'qiloon

﴾61﴿ There is no blame upon the blind, nor upon the lame, nor upon the sick, nor upon yourselves if you eat from your own houses, or the houses of your fathers, or the houses of your mothers, or the houses of your brothers, or the houses of your sisters, or the houses of your uncles (on your father's side), or the houses of your aunts (on your father's side), or the houses of your uncles (on your mother's side), or the houses of your aunts (on your mother's side), or from houses where you hold the keys, or from the houses of your friends. There is no blame upon you if you eat together or separately. But when you enter houses, greet their inhabitants with a greeting of peace from Allah, a blessed and pleasant greeting. Thus does Allah make clear His rulings to you so that you may understand

[61] This third law is for removing hardship (ḥaraj) while also promoting love and affection among people.
The point is that a person may feel uncomfortable or sinful eating with those who are excused (disabled), thinking they might be unable to eat equally, or might feel guilt eating from the homes of parents, siblings, etc., when the owner of the house is not present. This verse removes that burden and guilt.
There is encouragement that through sharing food and eating together, love develops among you.
To support this, the verse allows eating together or separately, and for strengthening love, it commands greeting with salām upon entering such homes.
(لَيْسَ عَلَى الْأَعْمَى حَرَجٌ) – has two meanings:
1. There is no sin on you for eating with such excused individuals.
2. There is no sin on the excused individuals (like the blind, lame, sick) for eating with you.
(مِنْ بُيُوتِكُمْ) – refers to homes one lives in and spends on. This is mentioned to say: just as there is no burden in eating in your own home, similarly, don’t feel burdened when eating in the homes of others listed (like parents, siblings, friends).
Ibn Kathīr mentions that "buyūtakum" also includes your sons' homes, based on a hadith that the wealth of the child belongs to the father (in cases of need).
(صَدِيقِكُمْ) – refers to a friend who is pleased if you eat from his home.
(جَمِيعًا أَوْ أَشْتَاتًا) – both are permissible, but eating together from one dish is better, hence "jamīʿan" (all together) is mentioned first.
(فَسَلِّمُوا عَلَى أَنْفُسِكُمْ) – refers to the household residents, even if it’s one’s wife or family.
(تَحِيَّةً) – greeting of peace, described as such because it brings life and includes a prayer for life.
(مُبَارَكَةً) – it brings blessing, love, and drives away hatred and jealousy.
(طَيِّبَةً) – it is pleasant and pleasing to the one who hears it.