Sura Inshiqaq (chapter 84) consists of 25 ayat. The 21st verse is Sajda ayah.
How is sajda tilawaat done if one recites the Sura Inshiqaq in the 1st rakah of his Salah?
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You say takbeer and fall directly into prostration. After the single prostration you say takbeer and stand straight up; continue the recitation and then do ruku and complete the first rakah. For demonstration refer to this video (ignore the confused people at the back).