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