Some of the worshippers say between the two prostrations: “O my Lord, forgive me and my parents.” Is that permissible?
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Question:
May Allah reward you, Honorable Shaykh. This questioner says: Some of the worshippers say in the sitting between the two prostrations, “O my Lord, forgive me and my parents.” Is this permissible, or should it be condemned?
Answer:
No, that is good. You are praying for them along with your own prayer, and you are making du'a for them along with your du'a in the prayer and in other places. Who has specified the obligatory prayer so that no one makes du'a for their parents in it? No one from the scholars has specified it; this is only among the common people. Yes.
May Allah reward you, Honorable Shaykh. This questioner says: Some of the worshippers say in the sitting between the two prostrations, “O my Lord, forgive me and my parents.” Is this permissible, or should it be condemned?
Answer:
No, that is good. You are praying for them along with your own prayer, and you are making du'a for them along with your du'a in the prayer and in other places. Who has specified the obligatory prayer so that no one makes du'a for their parents in it? No one from the scholars has specified it; this is only among the common people. Yes.
Source
قناة «العلامة الدكتور صالح الفوزان»، [235 -954] بعض المصلين يقول بين السجدتين: «رب اغفر لي ولوالدي»، فهل يجوز ذلك؟ - الشيخ صالح الفوزان — youtube.com
The Arabic text is a machine transcription of the audio recording.