Quran
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“I bowed (in prayer) beside my father, and I put my hands between my knees. He struck my hand and said: ‘We used to do that, then we were commanded to put them on the knees.’”
Sunan Ibn Majah Book 5, Hadith 71
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“I heard Wabisah bin Ma’bad saying: ‘I saw the Messenger of Allah (ﷺ) performing prayer, and when he bowed he made his back so straight that if water were poured on it, it would have stayed there.’”
Sunan Ibn Majah Book 5, Hadith 70
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“The Messenger of Allah (ﷺ) used to bow with his hands on his knees and his upper arms held away from his sides.”
Sunan Ibn Majah Book 5, Hadith 72