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Malik b. al-Huwairith saw that the prophet (may peace by upon him) would not stand at the end of the first or the third rak’ah until he sat down straight.
Sunan Abi Dawud Book 2, Hadith 454
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Abu Sulaiman Malik b. al-Huwairth came to our mosque, and said: By Allah, I Shall offer prayer, though I do not intend to pray; I only intend to show you how I saw the Messenger of Allah(ﷺ) praying. The narrator said: ( He then prayed and ) he sat at the end of the first rak’ah when he raised his head after the last prostration.
Sunan Abi Dawud Book 2, Hadith 453
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we asked Ibn ‘Abbas about sitting on heels between the two prostrations. He said: It is the sunnah. We said: We look upon it as a pressure on the foot. He said: This is the sunnah of your Prophet(ﷺ)
Sunan Abi Dawud Book 2, Hadith 455