I used to sleep with my legs in front of the Messenger of Allah ﷺ when he would offer his prayer at night (i.e. tahajjud prayer offered towards the end of the night.). When he prostrated himself he struck my legs, and I drew them up and he then prostrated. (Using translation from Abū Dāʾūd 712)
بِئْسَمَا عَدَلْتُمُونَا بِالْكَلْبِ وَالْحِمَارِ قَدْ رَأَيْتُ رَسُولَ اللهِ ﷺ يُصَلِّي وَأَنَا مُعْتَرِضَةٌ بَيْنَ يَدَيْهِ فَإِذَا أَرَادَ أَنْ يَسْجُدَ غَمَزَ يَعْنِي رِجْلَيَّ فَقَبَضْتُهُمَا إِلَيَّ ثُمَّ سَجَدَ