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Text and translation
English translation
472. Sa'eed bin Yasār narrated: "I was with Ibn 'Umar on a journey and I fell behind him. He said: 'Where were you?' I said: 'I prayed Al-Witr.' He said: 'Is there not a good example for you in Allāh's Messenger? I saw Allāh's Messenger ﷺ performing Al-Witr on his mount.'" (Ṣaḥīḥ)
[He said:] There are narrations on this topic from Ibn 'Abbās.
Abū 'Eisā said: The Ḥadīth of Ibn 'Umar is a Ḥasan Ṣaḥīḥ Ḥadīth.
Some of the people of knowledge, among the Companions of the Prophet ﷺ and others, followed this. They held the view that a man could perform Al-Witr on his mount. This was the view of Ash-Shāfi'i, Aḥmad and Ishāq.
Some of the people of knowledge said that a man is not to perform Al-Witr on his mount, when he wants to perform Al-Witr he dismounts and prays it on the ground. This is the saying of some of the people of Al-Kūfah.
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Commentary
This is the opinion of the three A'immah that the Witr is not a compulsory duty (obligatory/Wajib), so praying it whilst on a ride is correct, and this is the right opinion; however if one wants to pray by getting off the ride, there is no objection for him.