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Rule 20.2 Drivers must use the track at all times. For the avoidance of doubt the white lines defining the track edges are considered to be part of the track but the kerbs are not.
A driver will be judged to have left the track if no part of the car remains in contact with the track.
Should a car leave the track the driver may rejoin, however, this may only be done when it is safe to do so and without gaining any advantage.
A driver may not deliberately leave the track without justifiable reason.
Having passed Rosberg while off the track, Lewis was lucky not to get a penalty. It would have been a bit unfair in the circumstances but rules are rules. Maybe Rosberg escaped a penalty because of that.