When the Messenger of Allah ﷺ began the prayer, he would raise his hands level with his shoulders. He would do the same when he bowed, and when he raised his head from bowing, saying, "Allah hears whoever praises Him. Our Lord, to You belongs all praise." He would not do this during prostration.
أخبرنا قتيبة عن مالك عن ابن شهاب عن سالم
أن رسول الله ﷺ كان إذا افتتح الصلاة رفع يديه حذو منكبيه وإذا ركع وإذا رفع رأسه من الركوع رفعهما كذلك وقال سمع الله لمن حمده ربنا ولك الحمد وكان لا يفعل ذلك في السجود
Sourced from Bukhari, no. 735, from the hadith of Malik, and Muslim, 22/390. See the previous hadith from the hadith of Zuhri, through the same chain. It is also found in the Muwatta (Yahya), 75/1, and Kubra, no. 952.