The Messenger of Allah ﷺ used to recite the Qur'an to us. When he came upon the verse containing prostration, he would utter the takbir (Allah is most great) and we would prostrate ourselves along with him. The narrator 'Abd al-Razzaq said: Al-Thawri liked this tradition very much. Abu Dawud said: This was liked by him for this contains the uttering of takbir. (Using translation from Abū Dāʾūd 1413)   

كَانَ رَسُولُ اللهِ ﷺ يَقْرَأُ عَلَيْنَا الْقُرْآنَ فَإِذَا مَرَّ بِالسَّجْدَةِ كَبَّرَ وَسَجَدَ وَسَجَدْنَا قَالَ عَبْدُ الرَّزَّاقِ وَكَانَ الثَّوْرِيُّ يُعْجِبُهُ هَذَا الْحَدِيثُ قَالَ أَبُو دَاوُدَ يُعْجِبُهُ لِأَنَّهُ كَبَّرَ  

[Machine] When a man recites the Sajda (prostration) verse, he should not prostrate until he reaches the entire verse. And when he reaches it, he should raise his hands, say the Takbir (saying Allahu Akbar), and prostrate. I heard Muhammad, meaning Ibn Sirin, saying something similar. It is also mentioned from Rabee' bin Subayh, from Al-Hasan Al-Basri, that he said: "When you recite a Sajda verse, say the Takbir and prostrate. And when you raise, say the Takbir." It is also mentioned from Abu Abdur-Rahman As-Sulami and Abu Al-Ahwas that they both performed a Taslimah (greeting) in the Sajda from the right side and raised it. Some have attributed it from Abu Abdur-Rahman to Abdullah bin Mas'ud. It is mentioned from Ibrahim An-Nakha'i that he prostrated but did not perform a Taslimah. And it is mentioned from Al-Hasan Al-Basri that he said: "There is no Taslimah in the Sajda."  

إِذَا قَرَأَ الرَّجُلُ السَّجْدَةَ فَلَا يَسْجُدْ حَتَّى يَأْتِيَ عَلَى الْآيَةِ كُلِّهَا فَإِذَا أَتَى عَلَيْهَا رَفَعَ يَدَيْهِ وَكَبَّرَ وَسَجَدَ قَالَ وَسَمِعْتُ مُحَمَّدًا يَعْنِي ابْنَ سِيرِينَ يَقُولُ مِثْلَ هَذَا وَيُذْكَرُ عَنِ الرَّبِيعِ بْنِ صُبَيْحٍ عَنِ الْحَسَنِ الْبَصْرِيِّ أَنَّهُ قَالَ إِذَا قَرَأْتَ سَجْدَةً فَكَبِّرْ وَاسْجُدْ وَإِذَا رَفَعْتَ فَكَبِّرْ وَيُذْكَرُ عَنْ أَبِي عَبْدِ الرَّحْمَنِ السُّلَمِيِّ وَأَبِي الْأَحْوَصِ أَنَّهُمَا سَلَّمَا فِي السَّجْدَةِ تَسْلِيمَةً عَنِ الْيَمِينِ وَرَفَعَهُ بَعْضُهُمْ عَنْ أَبِي عَبْدِ الرَّحْمَنِ إِلَى عَبْدِ اللهِ بْنِ مَسْعُودٍ وَيُذْكَرُ عَنْ إِبْرَاهِيمَ النَّخَعِيِّ أَنَّهُ سَجَدَ وَلَمْ يُسَلِّمْ وَعَنِ الْحَسَنِ الْبَصْرِيِّ أَنَّهُ قَالَ لَيْسَ فِي السَّجْدَةِ تَسْلِيمٌ