What is the Sunnah regarding shaking hands with someone who has returned from a journey?
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Question:
How did the Messenger of Allah (peace and blessings be upon him) greet his Companions when they returned from a journey?
Answer:
He (peace and blessings be upon him) would shake their hands and kiss them, embracing them (peace and blessings be upon him). When they returned from a journey, he would embrace them and shake their hands (peace and blessings be upon him), just as he kissed Ja'far ibn Abi Talib when he came to him at Tabuk. So, kissing the one who returns from a journey—meaning, embracing—is prescribed.
How did the Messenger of Allah (peace and blessings be upon him) greet his Companions when they returned from a journey?
Answer:
He (peace and blessings be upon him) would shake their hands and kiss them, embracing them (peace and blessings be upon him). When they returned from a journey, he would embrace them and shake their hands (peace and blessings be upon him), just as he kissed Ja'far ibn Abi Talib when he came to him at Tabuk. So, kissing the one who returns from a journey—meaning, embracing—is prescribed.
Source
قناة «العلامة الدكتور صالح الفوزان»، ما السنة في مصافحة من عاد من السفر؟ #فتاوى الفوزان — youtube.com
The Arabic text is a machine transcription of the audio recording.