סימן ט סעיף יא
מֻתָּר לִטֹּל טַלִּית שֶׁל חֲבֵרוֹ בְּאַקְרַאי בְּעָלְמָא גַּם שֶׁלֹּא מִדַּעְתּוֹ לְהִתְפַּלֵּל בּוֹ וּלְבָרֵךְ עָלָיו, מִשּׁוּם דְּמִסְּתָמָא נִיחָא לֵהּ לֶאֱנָשׁ דְּלֶעְבָּד מִצְוָה בְּמָמוֹנֵהּ בְּמָקוֹם שֶׁאֵין חֶסְרוֹן כִּיס. אֲבָל לֹא יוֹצִיאוֹ מִן הַבַּיִת שֶׁמֻּנַּח שָׁם, כִּי אוּלַי חֲבֵרוֹ מַקְפִּיד עַל זֶה. וְאִם הָיָה הַטַּלִּית מְקֻפָּל, יַחֲזֹר וִיקַפְּלוֹ. וּבַשַׁבָּת לֹא יְקַפְּלוֹ, דְּכֵיוָן שֶׁאֵין מְקַפְּלוֹ מִשּׁוּם אִסּוּר שַׁבָּת, חֲבֵרוֹ מוֹחֵל לוֹ. וְהַשּׁוֹאֵל מֵחֲבֵרוֹ טַלִּית רַק לַעֲלוֹת בּוֹ לַתּוֹרָה, יֵשׁ סָפֵק אִם לְבָרֵךְ עָלָיו. עַל כֵּן יִתְכַּוֵּן שֶׁאֵינוֹ רוֹצֶה לִקְנוֹתוֹ, וְאָז לְכֻלֵּי עָלְמָא אֵינוֹ צָרִיךְ לְבָרֵךְ. אֲבָל עַל טַלִּית הַקָּהָל אֲפִלּוּ אֵינוֹ נוֹטְלוֹ רַק לַעֲלוֹת לַתּוֹרָה, צָרִיךְ לְבָרֵךְ עָלָיו, דַּהֲוֵי כְּשֶׁלּוֹ (י"ד).
The halachah states that "One who borrows without the owner's knowledge is considered a thief". (Bava Basra 88a). Here we find an exception to this law. When the borrower's purpose is to perform a mitzvah with the object, and the owner will not incur any loss, then it is assumed that the owner would be pleased and the borrower may make use of the object.
Some go so far as to say that even where the owner explicitly objects, use may be made of his tallis. (Responsa Maharsham Vol. I 29) Others, however, maintain that if the owner is known to be one who would usually object then it is not permitted to use the article without specific permission (Mishnah Berurah 14: 13). Still others go even further and hold that nowadays everyone is assumed to mind and specific permission must be received (Aruch Hashulchan 14: 11).
It is permissible to borrow someone's tallis on an irregular basis, even without his knowledge, and use it for prayers and to recite a berachah over it, because it may be assumed that one is pleased that a mitzvah is performed with his property, if it is at no loss to [the owner]. However, [the article] may not be removed from the house in which it was placed because the owner may object to that. If the [borrower found] the tallis folded he should replace it folded, but on Shabbos he may not fold it [and it may be assumed] that since the reason for his not folding it is due to a Shabbos restriction,37Folding a garment with meticulous care is, in certain situations, prohibited on Shabbos for it constitutes improving the garment. For applicable details consult a learned Orthodox Rabbi. the owner would not object. One who borrows a tallis from another only for the purpose of going up to [read from] the Torah, there is a halachic question if the berachah is recited. Therefore, you should specifically intend not to acquire the tallis, thereby, according to all opinions, you are not required to recite a berachah. However, on the congregation's tallis, even if you take it only for going up to the Torah, you are required to recite a berachah, because it is considered as if it were yours.
תנא דבי אליהו כל השונה הלכות בכל יום מובטח לו שהוא בן העולם הבא שנאמר הליכות עולם לו אל תקרי הליכות אלא הלכות (נדה ע"ג.)