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One must neither circumambulate the noble grave nor rub oneself against it. The leading imams and the early generations have reached consensus that circling anything other than the Kaʿbah is never permissible, and that physical contact for blessing is confined to the Yemeni Corner and the Black Stone of the Sacred Kaʿbah.
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Do not make repeated, excessive visits to the noble grave for greetings and visitation, for such frequency is not legislated. It was neither the practice of the Companions, may Allah be pleased with them, nor the way of the righteous predecessors. It is enough for a Muslim to send prayers and peace upon the Messenger wherever he may be, for those prayers reach him even if the person offering them is at the farthest end of the earth.
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The visitor should not stand at the grave—or even some distance from it—in the posture of ritual prayer, placing his hands on his chest, lowering his gaze, and relaxing his eyebrows. The Messenger ﷺ is indeed worthy of respect, but not by means of this stance, which is exclusive to standing before Allah in formal prayer.
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Raising one’s voice near the grave while offering greetings, prayers for mercy, or supplication is discouraged. Allah the Exalted says: “O you who believe, do not raise your voices above the voice of the Prophet, nor speak to him loudly as you do to one another, lest your deeds be rendered void while you are unaware” (Qur’an 49:2).