And in Alif-Lām-Mīm Tanzīl (Surah as-Sajdah) He says:
“Only those believe in Our signs who, when they are reminded of them, fall down in prostration, glorifying their Lord with praise and showing no arrogance” ⦗32:15⦘.
This is one of the most forceful ways of commanding and specifying the act, for it denies faith to anyone who is reminded of his Lord’s signs yet fails to prostrate when reminded.

Likewise, in Sād there is a report of David’s prostration, and the verse even calls it “bowing.”