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.  

بِئْسَمَا عَدَلْتُمُونَا بِالْحِمَارِ وَالْكَلْبِ لَقَدْ رَأَيْتُ رَسُولَ اللَّهِ ﷺ يُصَلِّي وَأَنَا مُعْتَرِضَةٌ بَيْنَ يَدَيْهِ فَإِذَا أَرَادَ أَنْ يَسْجُدَ غَمَزَ رِجْلِي فَضَمَمْتُهَا إِلَىَّ ثُمَّ يَسْجُدُ  

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  

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 رِجْلِي فَضَمَمْتُهَا إِلَيَّ ثُمَّ يَسْجُدُ  

"I remember lying in front of the Messenger of Allah ﷺ, and the Messenger of Allah ﷺ was praying. When he wanted to prostrate he would nudge my foot and I would draw it up (out of the way) until he had finished prostrating." (Using translation from Nasāʾī 167)  

لَقَدْ رَأَيْتُمُونِي وَأَنَا مُعْتَرِضَةً عَلَى فِرَاشِي بَيْنَ يَدَيْ رَسُولِ اللهِ ﷺ وَرَسُولُ اللهِ يُصَلِّي فَإِذَا أَرَادَ أَنْ يَسْجُدَ غَمَزَ رِجْلِي فَضَمَمْتُهَا إِلَيَّ ثُمَّ يَسْجُدُ