Muhammad bin Amr bin Ata reported,

He was sitting with a group of the Prophet's ﷺ companions when the prayer of the Prophet ﷺ was mentioned. Abu Humayd al-Saidi said, "I was the most attentive among you to the prayer of the Messenger of Allah ﷺ." He then described the manner of the Prophet's ﷺ prayer, saying, "When he sat after the second rakah, he sat on his left foot and kept his right foot upright. When he sat in the final rakah, he placed his left foot forward, kept the other upright, and rested on his backside."

Azami 2145

Sahih

عن محمد بن عمرو بن عطاء

أنه كان جالسا مع نفر من أصحاب النبي ﷺ، فذكر صلاة النبي ﷺ فقال أبو حميد الساعدي: أنا كنت أحفظكم لصلاة رسول الله ﷺ، فذكر صفة صلاة النبي ﷺ ثم قال: فإذا جلس في الركعتين جلس على رجله اليسري، ونصب اليمني، وإذا جلس في الركعة الآخرة قدم رجله اليسرى ونصب الأخرى، وقعد على مقعدته.

الأعظمي 2145صحيح
Contents
Reference
Commentary
Ayat
Collection
Jami al-Kamil
Book
Prayer
Chapter
Tashahhud and salam
Section
How to sit during the second tashahhud
Numbering
Jami al-Kamil 2145 (2nd edition)
Azami 2145