Muhammad ibn ‘Amr ibn ‘Atā reported: While Abu Humayd As-Sā‘idi was sitting among ten of the Companions of the Messenger of Allah (may Allah's peace and blessings be upon him) including Abu Qatādah, he said: "I am the most knowledgeable among you about the (manner of the) prayer of the Messenger of Allah (may Allah's peace and blessings be upon him)." They said: "Why? By Allah, you did not follow him more than we did, nor did you accompany him before us." He said: "Indeed, I am." They said: "Then show us." He said: "When the Messenger of Allah (may Allah's peace and blessings be upon him) stood up for prayer, he would raise his hands parallel to his shoulders, say Takbīr, and then wait until every bone of his body would settle properly in its place. Then he would recite (the Qur’an), then he would raise his hands parallel to his shoulders and say Takbīr, and then bow, placing his palms on his knees. Then he would stand up straight, and he would neither lower his head nor raise it much. Then he would say: ‘Allah hears those who praise Him'; and he would then raise his hands to the level of his shoulders while standing straight. Then he would say Takbīr and prostrate himself on the ground, keeping his arms away from his sides. Then he would raise his head and tuck his left foot and sit on it, and he would spread out his toes while prostrating. Then he would prostrate, then say Takbīr, raise his head, tuck his left foot, and sit on it until every bone returned to its place. Then he would stand up and do the same in the next Rak‘ah. Then, when he stood up after two Rak‘ahs, he would raise his hands up to the level of his shoulders as he did at the beginning of the prayer. Then he would offer the rest of his prayer in the same manner, and when he came to the prostration that is followed by Taslīm, he would draw his left foot backward and sit, placing his left posterior on the ground." They said: "You have spoken the truth; this is how the Messenger of Allah (may Allah's peace and blessings be upon him) used to perform the prayer."
Authentic hadith - Narrated by Abu Daoud