What the ma'mum does when the imam prostrates for forgetfulness after the taslim
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Question:
The issue in question is what the ma'mum should do: does he prostrate if the imam prostrates for forgetfulness after the taslim? Does he say the taslim with him, or what does he do?
Answer:
Yes, he says the taslim with him if he has not yet stood up for the rak'ah he missed. He says the taslim with him and prostrates with him. He prostrates with him, but he does not say the taslim. If the imam prostrates after the taslim, the ma'mum does not say the taslim with him, but if he prostrates, he prostrates with him. However, if the imam says the taslim and stands up, thinking he is not required to prostrate, and does not realize that he has a prostration for forgetfulness due to him, and then stands up: if the imam prostrates before the ma'mum settles into standing, the ma'mum returns and prostrates with him. Note this: if the ma'mum knows that the imam has a prostration for forgetfulness, he waits and prostrates with the imam, whether before the taslim or after the taslim. It is not permissible for him to change his state. If he does not know that the imam has a prostration for forgetfulness and stands up, but the imam prostrates before the ma'mum settles into standing, then he returns and prostrates with the imam, and then stands up to make up what he missed. But if he settles into standing, he continues, and the prostration for forgetfulness is dropped from him.
The issue in question is what the ma'mum should do: does he prostrate if the imam prostrates for forgetfulness after the taslim? Does he say the taslim with him, or what does he do?
Answer:
Yes, he says the taslim with him if he has not yet stood up for the rak'ah he missed. He says the taslim with him and prostrates with him. He prostrates with him, but he does not say the taslim. If the imam prostrates after the taslim, the ma'mum does not say the taslim with him, but if he prostrates, he prostrates with him. However, if the imam says the taslim and stands up, thinking he is not required to prostrate, and does not realize that he has a prostration for forgetfulness due to him, and then stands up: if the imam prostrates before the ma'mum settles into standing, the ma'mum returns and prostrates with him. Note this: if the ma'mum knows that the imam has a prostration for forgetfulness, he waits and prostrates with the imam, whether before the taslim or after the taslim. It is not permissible for him to change his state. If he does not know that the imam has a prostration for forgetfulness and stands up, but the imam prostrates before the ma'mum settles into standing, then he returns and prostrates with the imam, and then stands up to make up what he missed. But if he settles into standing, he continues, and the prostration for forgetfulness is dropped from him.
Source
شرح بلوغ المرام من أدلة الأحكام [ صالح الفوزان ]، بداية من باب الصلح — islamhouse.com (6:13)
The Arabic text is a machine transcription of the audio recording.