Allah (swt) has mentioned the order of doing sajdah to Adam (as) almost five times in the holy Qur'an.

1. Al- Baqarah 2:34

2. Al-A'raf 7: 11

3. Bani Israeel 17:61

4. Al-Kahf 18:50

5. Taha 20:116

In above verses Allah (swt) has not only permitted the sajdah of his caliph, but He Himself ordered for it. The one who did sajdah
of Allah for thousands of years (Iblees named azazeel) and denied the sajdah of Adam (as) was considered kafir (2:34), fasiq (18:50) and among those who do not do sajdah at all (20: 116).

Tafseer of Sajdah of Adam (as) from the Imam’s (as):

In a long tradition Imam Raza (as) narrates from his fore fathers upto the Holy Prophet (saww):

إن الله تبارك و تعالى خلق آدم فأودعنا صلبه و أمر الملائكة بالسجود له تعظيما لنا و إكراما و كان سجودهم لله عز و جل عبودية و لآدم إكراما و طاعة لكوننا في صلبه فكيف لا نكون أفضل من الملائكة و قد سجدوا لآدم كلهم أجمعون

"Then the Blessed the Sublime God created Adam, placed us in his loin and ordered the angels to fall in prostration in order to exult and honor us. Their prostration was indeed equal to their worship of the Honorable the Exalted God and a form of honoring and obedience for Adam due to our being in his loin. How could we then not be nobler than the angels while all the angels have fallen in prostration for Adam?”"

[Source: Taweel Al Aayat Pg.836 / Elal ush Sharae Vol.1 Pg.5]

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١ - عنه مدينة المعاجز: ٥٥١ / ٦٠.

عن محمد بن حمدان، عن إبراهيم بن بلطون، عن أبيه قال: كنت أحجب المتوكل، فأهدي له خمسون غلاما "من الخزر فأمرني أن أتسلمهم وأحسن إليهم، فلما تمت سنة كاملة كنت واقفا " بين يديه إذ دخل عليه أبو الحسن علي بن محمد النقي عليهما السلام، فلما أخذ مجلسه أمرني أن أخرج الغلمان من بيوتهم، فأخرجتهم، فلما بصروا بأبي الحسن عليه السلام سجدوا له بأجمعهم، فلم يتمالك المتوكل أن قام يجر رجليه حتى توارى خلف الستر، ثم نهض أبوالحسن عليه السلام

فلما علم المتوكل بذلك خرج إلي وقال: ويلك يا بلطون، ما هذا الذي فعل هؤلاء الغلمان؟ فقلت: لا والله، ما أدري. قال:
سلهم. فسألتهم عما فعلوا فقالوا: هذا رجل يأتينا كل سنة فيعرض علينا الدين، ويقيم عندنا عشرة أيام، وهو وصي نبي المسلمين.
فأمرني بذبحهم، فذبحتهم عن آخرهم.
فلما كان وقت العتمة صرت إلى أبي الحسن عليه السلام، فإذاخادم على الباب فنظر إلي، فلما بصر بي قال: " ادخل " فدخلت، فإذا هو - عليه السلام - جالس فقال: " يا بلطون ما صنع القوم؟ " فقلت:
يا ابن رسول الله ذبحوا والله عن آخرهم، فقال لي: " كلهم؟ " فقلت:
إي والله.
فقال عليه السلام: " أتحب أن تراهم؟ " قلت: نعم، يا ابن رسول الله. فأومأ بيده أن ادخل الستر، فدخلت فإذا أنا بالقوم قعود وبين أيديهم فاكهة يأكلون.

It is narrated from Muhammed s/o Hamdan, from Ibrahim s/o Baltun, from his father, he said: “ I was one of the gatekeepers of Mutawaakil. One day fifty slaves were gifted to him by Khazar, mutawakkil ordered me to take their custody and treat them well.

A year later, I was in the court of Mutawakkil, while Abul-Hasan Imam Ali Ibn Muhammed An-Naqi(as) arrived, while Imam(as) took his seat, Mutawakkil ordered me to bring out those slaves from their shelters, hence I brought all of them. When they came, they all fell in Sajdah (ta’zimi) for Abul-Hasan(as) as soon as they saw him. Mutawwakkil couldn’t control his anger on seeing this, stood up and walked out, hiding himself behind the curtain. After a while Imam Abul-hasan(as) left.

When Mutawakkil realized that he(as) has gone away, he came out and screamed in anger; “ Woe unto you O Baltun! What have these slaves done?

I replied: “ By Allah(swt), I do not know at all”.

He said: ask them, then I asked them about their action. They replied: “This (holy) person comes to us every year for ten days and teaches us religion and he is the vicegerent of Holy Prophet(saww)”.

Then Mutawakkil ordered me to kill them, then I had to kill all of them.

Later that evening I went to Abul-Hasan(as), as I reached his door, the slave of Imam(as) looked at me, recognized me and allowed me to go inside. Then I eneterd the house.

Imam Hadi(as) was sitting, he asked: “What happened to those people O Baltun!?

I replied: “ By Allah(swt), all of them were killed.”

Imam(as) asked: “All of them?”

I replied: “Yes by Allah(swt).”

He(as) said: “Would you like to see them?”

I replied: “ Yes O, the son of Prophet(saww)!”

He(as) pointed toward a curtain and told me to enter, as soon as I entered, I saw all of them were sitting (alive) and eating fruits kept in front of them!
"The similitude of the believers in accepting the guardianship (Wilayah) of the Commander of the Believers (Ali) on the day of Ghadir Khum is that of the angels in prostrating before Adam, and the similitude of the one who rejected the Wilayah is that of the devil (Iblis)."