Muhammadbin 'Amr bin 'Ata' said:
'While he was among ten of theCompanions of the Messenger of Allah (ﷺ) including Abu Qatadah: "Iheard Abu Humaid As-Sa'idi say: 'I am the most knowledgeable ofyouconcerning the prayer of the Messenger of Allah (ﷺ).' Theysaid:'Why? By Allah, you did not follow him more than we did, andyou didnot accompany him for longer.' He said: 'Yes I am.'They said: 'Showus.' He said: 'When the Messenger of Allah(ﷺ) stood up for prayer,he would say the Takbir, then he wouldraise his hands parallel to hisshoulders, and every part of his bodywould settle in place. Then hewould recite, then he would raise hishands parallel to his shouldersand bow, placing his palms on hisknees and supporting his weight onthem. He neither lowered his head,nor raised it up, it was evenlybalanced (between either extreme).Then he would say: "Sami' Allahuliman hamidah (Allah hears thosewho praise Him); and he would raisehis hands parallel with hisshoulders, until every bone returned toits place. Then he wouldprostrate himself on the ground, keeping hisarms away from hissides. Then he would raise his head and tuck hisleft foot under himand sit on it, and he would spread his toes whenhe prostrated.* Thenhe would prostrate, then say the Takbir and siton his left foot,until every bone returned to its place. Then hewould stand up and dothe same in the next Rak'ah. Then when he stoodup after twoRak'ah, he would raise his hands level with his shouldersas he didat the beginning of the prayer. Then he would offer the restof hisprayer in like manner until, when he did the prostration after whichtheTaslim comes, he would push one of his feet back and sit with hisweight on his left side, Mutawarrikan.'** They said: 'You havespokenthe truth; this is how the Messenger of Allah (ﷺ) used toperformthe prayer.'"***
English reference: Vol. 1, Book 5, Hadith 1061
Arabic reference: Book 5, Hadith 1114