They (the Companions) said prayer with the Messenger of Allah ﷺ, and they bowed when he (the Holy Prophet) bowed. and when he raised his head after bowing, he pronounced:" Allah listened to him who praised Him," and we kept standing till we saw him placing his face on the ground and then we followed him.  

حَدَّثَنَا الْبَرَاءُ أَنَّهُمْ كَانُوا يُصَلُّونَ مَعَ رَسُولِ اللَّهِ ﷺ فَإِذَا رَكَعَ رَكَعُوا وَإِذَا رَفَعَ رَأْسَهُ مِنَ الرُّكُوعِ فَقَالَ سَمِعَ اللَّهُ لِمَنْ حَمِدَهُ لَمْ نَزَلْ قِيَامًا حَتَّى نَرَاهُ قَدْ وَضَعَ وَجْهَهُ فِي الأَرْضِ ثُمَّ نَتَّبِعُهُ  

[Machine] Al-Baraa ibn Aazib narrated that they used to pray with the Messenger of Allah ﷺ , so whenever he went into bowing, they would also bow, and when he raised his head from bowing, he would say, "Allah listens to the one who praises Him; Our standing will not be complete until we see him placing his face on the ground." Then we would follow him. In a narration by Ibn Abdaan, his forehead would touch the ground and then we would prostrate.  

ثنا الْبَرَاءُ بْنُ عَازِبٍ أَنَّهُمْ كَانُوا يُصَلُّونَ مَعَ رَسُولِ اللهِ ﷺ فَإِذَا رَكَعَ رَكَعُوا وَإِذَا رَفَعَ رَأْسَهُ مِنَ الرُّكُوعِ فَقَالَ سَمِعَ اللهُ لِمَنْ حَمِدَهُ لَمْ نَزَلْ قِيَامًا حَتَّى نَرَاهُ قَدْ وَضَعَ وَجْهَهُ عَلَى الْأَرْضِ ثُمَّ نَتَّبِعُهُ وَفِي حَدِيثِ ابْنِ عَبْدَانَ جَبْهَتَهُ بِالْأَرْضِ ثُمَّ نَسْجُدُ