Karen, I have a qualifier on that advice. If you normally use the term "down" for a command that means "lie down" it is best not to use that same word for other things such as what you expect in this instance, this would be confusing. The word we use in this case would be "off". This can mean off of me, off the chair, off the couch, etc. essentially the same thing that you meant.... "back onto the floor".