The reality of following (the Sunnah) and the principles of innovation

Shaykh Muhammad ibn Saalih Al-'Uthaymeen (rahimahullah), said as follows:

“That following (the Sunnah) is not realised except if the action coincides with the legislation in six affairs:

1) The reason (why the action is done)

If a man was to worship Allaah on the basis of a reason that is not legislated then this is Bid’ah (an innovation) and it is rejected from its companion.