And the evidence against the statement of those who claim that this action invalidates the prayer of the one praying, and claim that this is an act not permissible in prayer, is their ignorance of the Sunnah of the Prophet, peace and blessings be upon him.

Sayyiduna Abu Qatadah (may Allah be pleased with him) narrates that I saw the Noble Prophet (peace and blessings of Allah be upon him) leading the people in prayer while Umamah, the daughter of Lady Zainab, was riding on his shoulder. When he (peace be upon him) would bow for ruku, he would put her down, and when he would raise his head from prostration, he would seat her again on his shoulder.