questions about bowing, kneeling, prostration, and all that good stuff

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When was the bending of the knees in bowing introduced?

The Gemara in Berachos 12a says that we bow at Baruch and we straighten at Hashem. Nowadays the familiar practice is to bend the knee at Baruch, to bow at Atah, and to straighten at Hashem, as stated ...
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Bowing during 'Aleinu

Are we required to bow during the 'Aleinu prayer when reciting the line starting with ״ואנחנו כורעים״? If there are differing halakhic rulings or customs, which I assume there are, their sources ...