I was praying Asr and I had already done Salam and I was at the part where you pray and do dua. I burped and said “excuse me” is my prayer invalid? Read

  • Ssalah finishes at salam. Anything you do after that will not effect the validity of your salah.
    – UmH
    Jul 6 at 3:29

You can hardly invalidate a prayer which has ended.

And the prayer ends with the salam or tasleem:

The Prophet (ﷺ) said: The key of prayer is purification; takbir (saying "Allah is most great") makes (all acts which break prayer) unlawful and taslim (uttering the salutation) makes (all such acts) lawful.
(See for example in Sunan abi Dawod 1 & 2, Sunan ibn Majah 1 & 2, Musnad Ahmad and Jami' at-Tirmidhi 1 & 2)

Tahleel تحليل or making it lawful means, accomplishing it (and earning the rewards). So anything you've done after this has no impact on the prayer. But one should consider repenting.

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