Minhaj al-Sunnah, Vol. 4, Pg. 151:-
وَكَذَلِكَ قَالَ مَالِكٌ: إِنَّ السُّجُودَ يُكْرَهُ عَلَى غَيْرِ جِنْسِ الْأَرْضِ، وَالرَّافِضَةُ يَمْنَعُونَ مِنَ السُّجُودِ عَلَى غَيْرِالْأَرْضِ.
Similarly Malik said that: Prostrating on anything that doesn't come from the earth is disliked (makruh) and the Rawafidh do not permit the prostration on other then the earth.
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Ighaathat ul-Lahfan fi Masaa'id Ash-Shaytaan By Ibn Qayyim al-Jawzi, Pg. 218:-
كذلك ترى أحدهم لا يصلي إلا على سجادة، ولم يصل رسول الله ﷺ على سجادة قط، ولا كانت السجادة تُفرش بين يديه، بل كان يصلي على الأرض، وربما سجد في الطين، وكان يصلي على الحصير، فيصلي على ما اتفق بَسْطُه، فإن لم يكن ثمة شيء صلى على الأرض.
And you also see some people who only pray on a prayer rug, while the Messenger of Allah ﷺ never prayed on a rug, nor was one spread before him. Instead, he would pray on the ground, and sometimes he would prostrate on mud. So he would pray on whatever was available to be spread out, and if there was nothing, he would pray directly on the ground.
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