It is narrated from Sayyiduna Ibn Umar (may Allah be pleased with them both) that when the Messenger of Allah (peace and blessings be upon him) would recite the Qur'an and come to a surah in which there was a verse of prostration, he would perform prostration, and those who were with him would also perform prostration, to the extent that some of us would not find a place to put our foreheads.
Sayyiduna Abu Rafi’ (may Allah be pleased with him) says: I offered the ‘Isha prayer with Sayyiduna Abu Hurairah (may Allah be pleased with him), and in it he recited “Idha as-samaa’un shaqqat” (the Surah), and performed a prostration in it. (After the prayer) I asked, “What kind of prostration did you perform?” He replied, “I performed this prostration behind the Messenger of Allah (peace and blessings be upon him), and I will continue to do it until I meet him.” (Meaning, I will continue to do it for the rest of my life.)