Jordan is more relaxed than many neighbours, but modest dress - shoulders and knees covered - is appreciated in towns, markets and especially religious sites. Swimwear is entirely normal at the Dead Sea and Aqaba resorts, while in villages and mosques dress conservatively.
Carrying a scarf is the single simplest habit, useful for mosques and sun. Travellers who hire car & driver in Jordan can adapt outfits as you move between beach and city, and full package tours to Jordan brief you on exactly where to dress up.
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