And this is of the type of permissible differences, so it is allowed for the one praying to sit on his feet between the two prostrations, and it is allowed for him to lay down the left foot and erect the right.

Hazrat Tawoos (may Allah have mercy on him) narrates that we asked Sayyiduna Ibn Abbas (may Allah be pleased with them both) about sitting on both feet in the position of Iq’aa. He replied that this is Sunnah. We said that we consider it to be cruelty to the feet. He replied that rather, this is the Sunnah of your Prophet (peace and blessings be upon him).

Hazrat Ibn Ishaq (may Allah have mercy on him) narrates that Abbas bin Sahl told me about the prayer of the Messenger of Allah (peace be upon him). When Abbas bin Sahl bin Sa’d bin Malik bin Sa’id performed prostration (i.e., offered prayer), he said: At the time of Duha, I was sitting in the market of Madinah Munawwarah with Hazrat Abu Usaid Malik bin Rabi’ah and with the Messenger of Allah (peace be upon him) were Hazrat Abu Humayd, and both of them were from the Sa’idah tribe, and Hazrat Abu Qatadah Harith bin Rabi’i was also sitting with us. Then one of them said to the other, and I was listening,“I know the prayer of the Messenger of Allah (peace be upon him) better than both of you.”Each one was saying the same to his companion. So they said to one of their companions,“Stand up and lead us in prayer so that we may see whether you perform the prayer of the Messenger of Allah (peace be upon him) correctly or not.”So one of them stood up, faced the Qiblah, and said «‏‏‏‏اللهُ أَكْبَرُ» ‏‏‏‏, then recited a portion of the Noble Qur’an, then bowed (ruku’) and firmly placed his hands on his knees until his bones became still. Then when he raised his head from ruku’, he stood up straight until every bone returned to its place. Then he said «‏‏‏‏سَمِعَ اللهُ لِمَنْ حَمِدَهُ» ‏‏‏‏, then he prostrated, placing his forehead, both palms, both knees, and the front parts of both feet on the ground. He kept his arms away from his sides until I saw the whiteness of his armpits beneath his shoulders. Then he performed the prostration calmly until every bone was at ease. Then he raised his head and sat straight on his heels and the toes of his feet until every bone returned to its place. Then he did the same again, then stood up and performed the second rak’ah in the same way, then ended the prayer with salam. Then he turned towards his two companions and said,“What do you think?”They both said,“You have performed the prayer of the Messenger of Allah (peace be upon him) correctly. The Messenger of Allah (peace be upon him) used to pray like this.”