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There are two ways of doing the ‘Sitting between the 2 Sujood(s) or Sajdah(s)’, which have been narrated from the Prophet (peace and blessings of Allah be upon him).
The first way, is like the man on the left (in image 1). This man has kept both his feet upright and he is sitting on his heels. This method is what the Prophet (pbuh) used to do sometimes. It is described in the Saheeh Hadeeth which describes how he sat between the two Sujood(s): “Sometimes he would rest on both his heels and the balls on his feet.” (See Sifat al-Salaah by al-Albaani, p. 152). This method is therefore quite alright and still part of the Sunnah.
However, there is a better way of sitting, which is the way of the man on the right (in image 1), and like the man in image 2.
The Prophet (pbuh) frequently used to sit between his two Sujood(s) this way. That is, he used to keep his right foot upright and he sat on the left foot. This is called the “Muftarishan” or “Al Iftirash” position.
It is described in the Saheeh Hadeeth, which describes how he sat between two Sujood(s): “He kept his right foot upright,” and “he pointed its toes towards the Qiblah.”
Therefore, undoubtedly, this became the most well known way of sitting between the Sujood(s) as it is the way he (pbuh) sat most of the time.
See the video below from 0 minutes to 1 minute 19 seconds, in shaa Allah, for a little more information.
So if I sit with both feet flat, without the 'curling' of my toes. Or if I sit with one foot on top of the other. Will my prayer be void?
Whichever way one sits is good enough, in shaa Allah, but the Sunnah is to sit “Muftarishan” or “Al Iftirash”, as mentioned before, which means sitting on the left foot and holding the right foot upright with the toes pointing towards the Qiblah.
If a person who is praying puts one foot on top of the other and sits on them, he is doing something other than the Sunnah, but his prayer is still valid. Even if he is an Imam, his prayer and that of his followers, are still valid.
But of course, if you follow the Prophet’s Sunnah, you get more Hasanats. If you don’t, you are sadly missing out on a chance to gain some extra Hasanats.
However, as a general rule of thumb, in all cases, we should guide people towards the Sunnah and teach them about it, because this is quite an important matter – how could it be otherwise? The Prophet (pbuh) said: “Pray as you have seen me praying.” (Reported by al-Bukhari, no. 631).
Allah knows best.
(Images may have been edited.)