فَإِنْ خِفْتُمْ فَرِجَالًا أَوْ رُكْبَانًۭا ۖ فَإِذَآ أَمِنتُمْ فَٱذْكُرُوا۟ ٱللَّهَ كَمَا عَلَّمَكُم مَّا لَمْ تَكُونُوا۟ تَعْلَمُونَ
Fa in khiftum farijaalan aw rukbaanan fa izaaa amintum fazkurul laaha kamaa 'allamakum maa lam takoonoo ta'lamoon
And if you fear [an enemy, then pray] on foot or riding. But when you are secure, then remember Allah [in prayer], as He has taught you that which you did not [previously] know.

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Tafsir

75%64%63%Al-JalalaynIbn AbbasIbn Kathir
Scholars largely agree on this ayah

And if you are in fear of an enemy or a torrent or a predatory animal then standing rijāl plural of rājil praying while walking or mounted rukbān plural of rākib. In other words in whichever way you can facing the direction of the qibla or otherwise making the gestures of genuflexion and prostration; but when you are secure from any fear then remember God by performing prayer as He taught you what you knew not before He taught you its obligations and its proper ways the particle kāf of ka-mā ‘as’ has the same meaning as mithl ‘like’ while the mā is related to the verbal action or is relative.

Related Hadiths

Sunan an-Nasa'i #493It was narrated that Ibn 'Umar said:Sahih
"The Messenger of Allah (ﷺ) used to pray while on his animal when he was coming back from Makkah to Madinah. Concerning this, the verse was revealed: So wherever you turn (yourselves or your faces) there is the Face of Allah.'" Al-Baqarah 2:115.
Sunan Ibn Majah #992It was narrated that Ibn ‘Umar said:Sahih
“The Messenger of Allah (ﷺ) said concerning the fear prayer: “The Imam should lead one group in prayer, and they should perform one prostration, and there should be another group between them and the enemy (guarding them). Then those who did the prostration with their leader should move away, and take the place of those who have not yet prayed. Then those who have not yet prayed should come forward and perform one prostration with their leader. Then their leader should move away, and his prayer will be complete. Then each group should perform one prostration by itself. If the fear is too great, then (they should pray) on foot or riding.’” He said: What is meant by prostration here is a Rak’ah.
Sunan an-Nasa'i #621It was narrated from Abu Hurairah that the Messenger of Allah (ﷺ) said:Sahih
"Whoever forgets a prayer, let him pray it when he remembers it, for Allah says: and perform the Salah for My remembrance." Ta-Ha 20:14.
Sunan an-Nasa'i #620It was narrated that Abu Hurairah said:Sahih
The Messenger of Allah (ﷺ) said: If you forget a prayer, pray it when you remember it, for Allah says: "and perform the Salah for My remembrance." Ta-Ha 20:14.
Sunan an-Nasa'i #1447It was narrated that Ibn 'Abbas said:Sahih
"Allah, the Mighty and Sublime, enjoined the prayer on the tongue of your Prophet (ﷺ): While a resident four (rak'ahs), while traveling two, and at times of fear one."

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About Quran 2:239