The Messenger of Allah ﷺ would say the takbir in prayer every time he lowered himself and every time he rose, and that remained his manner of praying until he met Allah.
و حدثني عن مالك عن ابن شهاب
كان رسول الله ﷺ يكبر في الصلاة كلما خفض ورفع فلم تزل تلك صلاته حتى لقي الله