The Messenger of Allah ﷺ used to recite the Quran to us, and whenever he came upon a verse of prostration, he would say the takbeer and prostrate, and we would prostrate along with him.Abdul-Razzaq said, al-Thawri was greatly pleased by this hadith.
حدثنا أحمد بن الفرات أبو مسعود الرازي أخبرنا عبد الرزاق أخبرنا عبد الله بن عمر عن نافع
كان رسول الله ﷺ يقرأ علينا القرآن فإذا مر بالسجدة كبر وسجد وسجدنا معه قال عبد الرزاق وكان الثوري يعجبه هذا الحديث
Citation, its chain is hasan. Bayhaqi narrated it in 2/325, from the hadith of Abu Dawud with the same wording, and it is also in Musannaf Abdul-Razzaq, hadith no. 5911. Abdullah Umari, narrating from Nafi, is strong, as mentioned before at 1156.