The Messenger of Allah ﷺ used to begin prayer with takbir (saying Allahu Akbar) and the recitation: "Praise be to Allah, the Lord of the Universe." When he bowed he neither kept his head up nor bent it down, but kept it between these extremes; when he raised his head after bowing he did not prostrate himself till he had stood erect; when he raised his head after prostration he did not prostrate himself again till he sat up. At the end of every two rak'ahs he recited the tahiyya; and he used to place his left foot flat (on the ground) and raise up the right; he prohibited the devil's way of sitting on the heels, and he forbade people to spread out their arms like a wild beast. And he used to finish the prayer with the taslim. (Using translation from Muslim 498)   

كَانَ رَسُولُ اللهِ ﷺ يَفْتَتِحُ الصَّلَاةَ بِالتَّكْبِيرِ وَالْقِرَاءَةِ بِالْحَمْدِ لِلَّهِ رَبِّ الْعَالَمِينَ وَكَانَ إِذَا رَكَعَ لَمْ يُشْخِصْ رَأْسَهُ وَلَمْ يُصَوِّبْهُ وَلَكِنْ بَيْنَ ذَلِكَ وَكَانَ إِذَا رَفَعَ رَأْسَهُ مِنَ الرُّكُوعِ لَمْ يَسْجُدْ حَتَّى يَسْتَوِيَ قَائِمًا وَكَانَ إِذَا رَفَعَ رَأْسَهُ مِنَ السُّجُودِ لَمْ يَسْجُدْ حَتَّى يَسْتَوِيَ قَاعِدًا وَكَانَ يَفْرِشُ رِجْلَهُ الْيُسْرَى وَيَنْصِبُ رِجْلَهُ الْيُمْنَى وَكَانَ يَقُولُ بَيْنَ كُلِّ رَكْعَتَيْنِ تَحِيَّةٌ وَكَانَ يَنْهَانَا عَنْ عَقِبِ الشَّيْطَانِ وَكَانَ يَنْهَانَا أَنْ يَفْرِشَ أَحَدُنَا ذِرَاعَيْهِ افْتِرَاشَ السَّبُعِ وَكَانَ يَخْتِمُ الصَّلَاةَ بِالتَّسْلِيمِ وَلَفْظُهُمَا سَوَاءٌ إِلَّا أَنَّ فِي رِوَايَةِ يَزِيدَ وَكَانَ يَنْهَى عَنْ عَقِبِ الشَّيْطَانِ قَالَ عَبْدُ الْأَعْلَى عَقِبُ الشَّيْطَانِ أَنْ يَقْعُدَ عَلَى ظَهْرِ قَدَمَيْهِ جَمِيعًا