Narrated Jabir ibn Samurah: When I came to the Prophet ﷺ in his house, I saw him sitting reclining on a pillow. The narrator Ibn al-Jarrah added: "on his left side". Abu Dawud said: Ishaq bin Mansur transmitted it from Isra'il, also mentioning the words "on his left side".
Explanation & Benefits
Shaykh Umar Farooq Saeedi
Benefits and Issues:
Sitting while taking support from a cushion is permissible; it is not an act of arrogance. Furthermore, if there are cushions in the house as needed for this purpose, there is no harm in it.
Source: Sunan Abu Dawood – Commentary by Shaykh Umar Farooq Saeedi, Page: 4143