إِنَّمَا الْمُؤْمِنُونَ الَّذِينَ آمَنُوا بِاللَّهِ وَرَسُولِهِ وَإِذَا كَانُوا مَعَهُ عَلَى أَمْرٍ جَامِعٍ لَمْ يَذْهَبُوا حَتَّى يَسْتَأْذِنُوهُ إِنَّ الَّذِينَ يَسْتَأْذِنُونَكَ أُولَئِكَ الَّذِينَ يُؤْمِنُونَ بِاللَّهِ وَرَسُولِهِ فَإِذَا اسْتَأْذَنُوكَ لِبَعْضِ شَأْنِهِمْ فَأْذَنْ لِمَنْ شِئْتَ مِنْهُمْ وَاسْتَغْفِرْ لَهُمُ اللَّهَ إِنَّ اللَّهَ غَفُورٌ رَحِيمٌ ﴿۶۲﴾

﴾62﴿ Innamal mu'minoonal lazeena aamanoo billaahi wa Rasoolihee wa izaa kaanoo ma'ahoo 'alaaa amrin jaami'il lam yazhaboo hattaa yasta'zinooh; innal lazeena yasta'zinoonaka ulaaa'ikal lazeena yu'minoona billaahi wa Rasoolih; fa izas ta'zanooka li ba'di sha'nihim fa'zal liman shi'ta minhum wastaghfir lahumul laah; innal laaha Ghafoorur Raheem

﴾62﴿ The true believers are only those who believe in Allah and His Messenger, and when they are with him on a collective matter, they do not leave until they have sought his permission. Indeed, those who ask your permission are the ones who believe in Allah and His Messenger. So when they ask your permission for some of their affairs, grant permission to whomever you will among them and seek forgiveness for them from Allah. Surely, Allah is Forgiving, Merciful

[62] The connection of this verse to the previous one is that just as giving salām is a ruling within the Muslim household, likewise, when seeking permission to leave the presence of the Prophet (May Allah bless him and give him peace), giving salām and seeking leave is also commanded.
Its relevance to the entire Surah is that earlier, the Qur'anic manners and rulings were explained—these are referred to as clear signs (āyāt bayyināt). So, at the end, the Prophet (May Allah bless him and give him peace) is mentioned, to emphasize that just as Qur’anic commands must be respected and followed, so must the commands of the Prophet.
This verse also contrasts the traits of believers and hypocrites.
The meaning of “jāmiʿ” is a situation where the leader of the believers (Amīr al-Mu’minīn) gathers people of opinion and consultation for a meeting. Some scholars have also included congregational prayer (ṣalāh al-jamāʿah) and Friday prayer (ṣalāh al-jumuʿah) under this.
Even when someone wants to travel, it is appropriate for them to seek permission from the leader.
(وَاسْتَغْفِرْ لَهُمُ اللَّهَ) – this proves that saying a duʿā of forgiveness when granting permission is prescribed. However, raising the hands for this duʿā is not necessary or obligatory.
This also indicates that when a leader makes duʿā of forgiveness, it shows that he has granted leave with pleasure and approval.