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I was sitting in the company( of the Companions). He then narrated this tradition saying: When he(the Prophet) sat up after two rak’ahs, he sat on the sole of his left foot and raised his left foot. When he sat up after four rak’ahs, he placed his left hip on the ground and put out his both feet on one side.
Sunan Abi Dawud Book 2, Hadith 576
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When he( the Prophet) sat up the two rak’ahs he sat on his left foot; and when sat up after the last rak’ah he put out his left foot and sat on his hip.
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He(the Prophet) prostrated himself, he depended on his palms, knees and the toes of his feet. When he sat up, he sat on his hips, and raised his other foot. He then uttered the takbir(Allah is most great) and prostrated himself. He uttered the takbir and stood up and did not sit on his hips. Then he repeated(the same) and offered the second rak’ah; he uttered the takbir in the same manner, and sat up after two rak’ahs. When he was about to stand up, he stood up after saying the takbir. Then he offered the last two rak’ahs. When he saluted, he saluted on his right and left sides.