Tawus (RA) reported: We asked Ibn Abbas about sitting on one’s buttocks (in prayer). (ala alqad mein) He said: It is sunnah. We said to him: We find it a sort of cruelty to the foot. Ibn ‘Abbas said: It is the sunnah of your Apostle (ﷺ).
Sahih Muslim 536, Book 5, Hadith 38