When the Prophet ﷺ said, "Samiʿa l-lahu liman hamidah," (Allah heard those who sent praises to Him), he would say, "Rabbana wa laka l-hamd." On bowing and raising his head from it the Prophet ﷺ used to say Takbir. He also used to say Takbir on rising after the two prostrations. (See Hadith No. 656).  

كَانَ النَّبِيُّ ﷺ إِذَا قَالَ سَمِعَ اللَّهُ لِمَنْ حَمِدَهُ قَالَ اللَّهُمَّ رَبَّنَا وَلَكَ الْحَمْدُ وَكَانَ النَّبِيُّ ﷺ إِذَا رَكَعَ وَإِذَا رَفَعَ رَأْسَهُ يُكَبِّرُ وَإِذَا قَامَ مِنَ السَّجْدَتَيْنِ قَالَ اللَّهُ أَكْبَرُ  

The Messenger of Allah ﷺ while teaching us (the principles of faith), said: Do not try to go ahead of the Imam, recite takbir when he recites it, and when he says: "Nor of those who err" you should say Amin, bow down when he bows down, and when he says: "Allah listens to him who praises Him" say: "O Allah, our Lord, to Thee be the praise".  

كَانَ رَسُولُ اللَّهِ ﷺ يُعَلِّمُنَا يَقُولُ لاَ تُبَادِرُوا الإِمَامَ إِذَا كَبَّرَ فَكَبِّرُوا وَإِذَا قَالَ وَلاَ الضَّالِّينَ فَقُولُوا آمِينَ وَإِذَا رَكَعَ فَارْكَعُوا وَإِذَا قَالَ سَمِعَ اللَّهُ لِمَنْ حَمِدَهُ فَقُولُوا اللَّهُمَّ رَبَّنَا لَكَ الْحَمْدُ  

The Messenger of Allah ﷺ used to raise his hands until they were in level with his shoulders when he started to pray, and when he raised his head from bowing he did likewise, and when he said: Sami' Allahu liman hamidah (Allah hears the one who praises Him)" he said: "Rabbana wa lakal-hamd (Our Lord, to You be praise)" and he did not raise his hands between the two prostrations.  

أَنَّ رَسُولَ اللَّهِ ﷺ كَانَ يَرْفَعُ يَدَيْهِ إِذَا دَخَلَ فِي الصَّلاَةِ حَذْوَ مَنْكِبَيْهِ وَإِذَا رَفَعَ رَأْسَهُ مِنَ الرُّكُوعِ فَعَلَ مِثْلَ ذَلِكَ وَإِذَا قَالَ سَمِعَ اللَّهُ لِمَنْ حَمِدَهُ قَالَ رَبَّنَا لَكَ الْحَمْدُ وَكَانَ لاَ يَرْفَعُ يَدَيْهِ بَيْنَ السَّجْدَتَيْنِ  

[Machine] "I am similar to you in prayer, following the example of the Messenger of Allah ﷺ. The Messenger of Allah ﷺ, when he said 'Allah listens to the one who praises Him,' would say, 'O Allah, our Lord, all praise is due to You.' And he would make takbir when he bowed, when he stood up from prostration, and when he raised his head from the two prostrations."  

أَنَا أَشْبَهُكُمْ صَلَاةً بِرَسُولِ اللهِ ﷺ كَانَ رَسُولُ اللهِ ﷺ إِذَا قَالَ سَمِعَ اللهُ لِمَنْ حَمِدَهُ قَالَ اللهُمَّ رَبَّنَا وَلَكَ الْحَمْدُ قَالَا وَكَانَ يُكَبِّرُ إِذَا رَكَعَ وَإِذَا قَامَ مِنَ السُّجُودِ وَإِذَا رَفَعَ رَأْسَهُ مِنَ السَّجْدَتَيْنِ  

"The Messenger of Allah ﷺ said: 'The Imam is appointed to be followed, so when he says the takbir, say the takbir, and when he recites, be silent, and when he says: "Sami' Allahu liman hamidah (Allah hears those who praise Him)," say: "Allahumma rabbana lakal-hamd (Our Lord, to You be praise)." (Using translation from Nasāʾī 921)   

قَالَ رَسُولُ اللَّهِ ﷺ إِذَا قَالَ الْإِمَامُ اللَّهُ أَكْبَرُ فَقُولُوا اللَّهُ أَكْبَرُ فَإِذَا قَالَ سَمِعَ اللَّهُ لِمَنْ حَمِدَهُ فَقُولُوا رَبَّنَا وَلَكَ الْحَمْدُ «»  

The Messenger of Allah ﷺ used to raise his hands until they were in level with his shoulders when he started to pray, and when he raised his head from bowing he did likewise, and when he said: Sami' Allahu liman hamidah (Allah hears the one who praises Him)" he said: "Rabbana wa lakal-hamd (Our Lord, to You be praise)" and he did not raise his hands between the two prostrations. (Using translation from Nasāʾī 1057)  

أَنَّ رَسُولَ اللهِ ﷺ كَانَ يَرْفَعُ يَدَيْهِ إِذَا دَخَلَ الصَّلَاةَ حَذْوَ مَنْكِبَيْهِ وَإِذَا رَفَعَ رَأْسَهُ مِنَ الرُّكُوعِ فَعَلَ مِثْلَ ذَلِكَ وَإِذَا قَالَ «سَمِعَ اللهُ لِمَنْ حَمِدَهُ» قَالَ «رَبَّنَا لَكَ الْحَمْدُ» وَكَانَ لَا يَرْفَعُ يَدَيْهِ بَيْنَ السَّجْدَتَيْنِ  

"لا تُبَادِرُوا الإِمَامَ، إِذَا كَبَّرَ فَكَبِّرُوا، وإِذَا قَال: وَلا الضَّالِّينَ فَقُولُوا: آمِين، وَإِذَا رَكعَ فَارْكَعُوا، وَإذَا قَال: سَمِعَ الله لِمَنْ حَمِدَهْ فَقُولُوا: اللَّهُمَّ رَبَّنَا وَلَكَ الْحَمْدُ، وَلا تَرْفَعُوا قَبْلهُ".