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Text and translation
English translation
491. It was narrated from Sâlim that his father said: "The Messenger of Allāh ﷺ used to pray voluntary prayers (Usabbih) while riding his mount, facing whatever direction it was facing, and he would pray Witr likewise, but he would not offer the prescribed prayers on it." (Ṣaḥīḥ)
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Commentary
1. Voluntary prayer could be performed any time, whether one is traveling or residing at home. If one had to conform to the Qiblah or dismount, such restrictions would have deprived the traveler of voluntary prayers, or else one would not have been able to travel. This is why, in the voluntary prayer, provision has been kept that a traveler may offer his prayer on his mount, regardless of whether he remains facing the Qiblah, and whether he can completely perform the bowing and prostrating positions!
2. Offering Witr - the odd-numbered prayer - while riding on a mount demonstrates that Witr is not obligatory or compulsory. It is but voluntary.