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I asked 'A'isha how the Messenger of Allah (ﷺ) did in the two rak'ahs as he (observed them) sitting. She said: He would recite (the Qur'an) in them, and when he intended to bow, he would stand up and then bowed.
Sahih Muslim Book 6, Hadith 137
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The Messenger of Allah (ﷺ) used to recite in sitting position (while observing the Tahajjud prayer) and when he intended to bow, he would stand up and recite (for the duration in which) a man (ordinarily) recites forty verses.
Sahih Muslim Book 6, Hadith 136
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I asked 'A'isha whether the Messenger of Allah (ﷺ) observed (Nafl) sitting. She said: Yes, when the people had made him old.
Sahih Muslim Book 6, Hadith 138