The Messenger of Allah ﷺ used to begin the prayer with the takbir and the recitation of "All praise is due to Allah, Lord of the worlds" [Fatihah 1:2]. When he bowed, he neither raised his head up nor lowered it down, but kept it level between the two. When he raised his head from bowing, he would not prostrate until he had stood up straight. After every two rakahs he would recite the tahiyyat. When he sat, he would lay his left foot flat and keep his right foot upright. He forbade sitting on one's heels like Satan and spreading the forearms on the ground like a wild animal. He would conclude the prayer with the salam.
حدثنا مسدد حدثنا عبد الوارث بن سعيد عن حسين المعلم عن بديل بن ميسرة عن أبي الجوزاء
كان رسول الله ﷺ يفتتح الصلاة بالتكبير والقراءة ب {الحمد لله رب العالمين} وكان إذا ركع لم يشخص رأسه ولم يصوبه ولكن بين ذلك وكان إذا رفع رأسه من الركوع لم يسجد حتى يستوي قائما وكان يقول في كل ركعتين التحيات وكان إذا جلس يفرش رجله اليسرى وينصب رجله اليمنى وكان ينهى عن عقب الشيطان وعن فرشة السبع وكان يختم الصلاة بالتسليم
Narrated by Muslim, chapter on Prayer, the section on what combines the description of prayer and what it opens and closes with... etc., no. 498, from the hadith of Husayn Al-Muallim through this route.