Sayyidah Aisha (may Allah be pleased with her) narrates that the Messenger of Allah (peace and blessings be upon him) would begin the prayer with the takbeer and the recitation with {اَلْحَمْدُلِلّٰہِرَبِّالْعٰلَمِیْنَ}, when he would bow (in ruku‘), he would neither raise his head too much nor lower it too much, but would keep it in between. When he would raise his head from ruku‘, he would not go into prostration (sajdah) until he stood up straight. When he would raise his head from prostration, he would not perform the (second) prostration until he sat up straight. After every two rak‘ahs, he would recite "At-tahiyyatu lillah…". He (peace and blessings be upon him) disliked that anyone should spread his arms like a beast during prostration. When he sat, he would spread his left foot and keep his right foot upright. He (peace and blessings be upon him) forbade the sitting posture of Satan and would end the prayer with salam.
Hadith Referenceالفتح الربانی / أبواب صفة الصلاة / 1510
Hadith Gradingمحدثین:صحیح
Hadith Takhrij«أخرجه مطولا و مختصرا مسلم: 498 ، (انظر مسند أحمد ترقيم الرسالة: 24030، 25617)۔ ترقیم بيت الأفكار الدولية: 26135»
Brief Explanation
Benefits: … By “the sitting of Satan” is meant *iq‘a’*. Keep in mind that there are two forms of *iq‘a’* in prayer: one form is impermissible, and one is permissible.
The impermissible form of *iq‘a’*: to sit on the buttocks while raising the shins and thighs upright, and placing the hands on the ground. This is the form mentioned in this hadith.
The permissible form of *iq‘a’*: in prayer, between the two prostrations (sajdahs), the worshipper stands his feet upright and sits his buttocks on his heels. This form is Sunnah. From this, it is understood that there are two ways of sitting between the two prostrations:
(1) Keeping the right foot upright and spreading the left foot, then sitting on it; and (2) Keeping both feet upright and sitting on their heels—this very form is called *iq‘a’*.
We should, following the example of the life of the Prophet sallallahu alayhi wa sallam, practice both methods at different times, so that none of the Sunnahs of the Prophet sallallahu alayhi wa sallam are left out.