Source: The Prophet’s (Salla-Allaahu alaihi wa sallam) prayer described from the beginning to the end as though you see it by Shaikh Muhammad Naasir-ud-Deen Al-Albaani.
It is Sunnah to sit Muftarishan between the two Sajdahs.
The Prophet (Salla-Allaahu alaihi wa sallam) would lay his left foot along the ground and sit on it [relaxed], [Ahmad and Abu Dawoud with a good Isnaad] and he (Salla-Allaahu alaihi wa sallam) ordered “the one who prayed badly” thus; saying to him, “When you prostrate, prostrate firmly, then when you rise, sit on your left thigh.” [Al-Bukhari and Baihaqi]
Abu Hurairah (Radia-Allaahu ‘anhu) said: “My close friend (Salla-Allaahu alaihi wa sallam) forbade me from pecking in my prayer like a cockerel, from looking around like a fox, and from squatting like a monkey.” [Tayaalisi, Ahmad and Ibn Abi Shaibah; it is a Hasan Hadeeth]
He (Salla-Allaahu alaihi wa sallam) would sometimes practice Iq’aa’ [resting on both his heels and (all) his toes]. [Reported by Muslim, Abu Awaanah, Abu Shaikh and Baihaqi] This Sunnah was practiced by several Companions, successors and others.
Abu Hurairah (Radia-Allaahu ‘anhu) said, “My friend (Salla-Allaahu alaihi wa sallam) forbade me from squatting (Iq’aa’) like a dog.” [Tayaalisi, Ahmad and Ibn Abi Shaibah]
Abu Ubaidah and others said: “Iq’aa’ is when a man presses his buttocks against the ground, keeps his shins upright, and leans his hands on the ground, the way a dog does.” This is different to the Iq’aa’ between Sajdahs, which is approved in the Sunnah, as covered previously.
In another Hadeeth, “he (Salla-Allaahu alaihi wa sallam) used to forbid the squatting of the devil.” [Muslim, Abu Awaanah and others. It is given in Irwaa (316).]
The Obligation of being at ease between the two Sajdahs
“He (Salla-Allaahu alaihi wa sallam) would be relaxed until every bone returned to its (proper) position” [Abu Dawoud and Baihaqi with a Saheeh Isnaad], and he (Salla-Allaahu alaihi wa sallam) ordered “the one who prayed badly” likewise, and said to him, “The prayer of any of you is not complete until he does this.” [Abu Dawoud and Hakim, who declared it Saheeh and Dhahabi agreed]
Lengthening the sitting between the two Sajdahs
Also, “he (Salla-Allaahu alaihi wa sallam) would lengthen it until it was about almost as long as his Sajdah” [Al-Bukhari and Muslim], and sometimes, “he would remain (in this position) until one would say: ‘He has forgotten.’” [Al-Bukhari and Muslim]
Ibn al-Qayyim said (Rahimahullaah), “This Sunnah was abandoned by the people after the time of the Companions. But as for the one who abides by the Sunnah, and does not glance sideways towards whatever contradicts it, he is unworried by anything opposing this guidance.”
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