If someone prostrates for a recitation (tilawah) prostration, should I prostrate with them?

The prostration of recitation (Sujud al-Tilawah) is sunnah (recommended) for both the reciter and the listener, whether the reciter is performing prayer or not. It is not a condition for the listener's prostration that the reciter also prostrates. Similarly, prostration is recommended when listening to the recitation of a person in a state of ritual impurity (junub), a disbeliever (kafir), or a child. The prostration of recitation is also sunnah for one who hears a recitation without intending to listen or paying close attention.