Once Malik bin Huwairith said to his friends, "Shall I show you how Messenger of Allah ﷺ used to offer his prayers?" And it was not the time for any of the compulsory congregational prayers. So he stood up (for the prayer) bowed and said the Takbir, then he raised his head and remained standing for a while and then prostrated and raised his head for a while (sat up for a while). He prayed like our Sheikh ʿAmr Ibn Salama. (Aiyub said, "The latter used to do a thing which I did not see the people doing i.e. he used to sit between the third and the fourth rakʿa). Malik bin Huwairith said, "We came to the Prophet (after embracing Islam) and stayed with him. He said to us, 'When you go back to your families, pray such and such a prayer at such and such a time, pray such and such a prayer at such and such a time, and when there is the time for the prayer then only of you should pronounce the Adhan for the prayer and the oldest of you should lead the prayer."  

لأَصْحَابِهِ أَلاَ أُنَبِّئُكُمْ صَلاَةَ رَسُولِ اللَّهِ ﷺ قَالَ وَذَاكَ فِي غَيْرِ حِينِ صَلاَةٍ فَقَامَ ثُمَّ رَكَعَ فَكَبَّرَ ثُمَّ رَفَعَ رَأْسَهُ فَقَامَ هُنَيَّةً ثُمَّ سَجَدَ ثُمَّ رَفَعَ رَأْسَهُ هُنَيَّةً فَصَلَّى صَلاَةَ عَمْرِو بْنِ سَلِمَةَ شَيْخِنَا هَذَا قَالَ أَيُّوبُ كَانَ يَفْعَلُ شَيْئًا لَمْ أَرَهُمْ يَفْعَلُونَهُ كَانَ يَقْعُدُ فِي الثَّالِثَةِ وَالرَّابِعَةِ قَالَ فَأَتَيْنَا النَّبِيَّ ﷺ فَأَقَمْنَا عِنْدَهُ فَقَالَ لَوْ رَجَعْتُمْ إِلَى أَهْلِيكُمْ صَلُّوا صَلاَةَ كَذَا فِي حِينِ كَذَا صَلُّوا صَلاَةَ كَذَا فِي حِينِ كَذَا فَإِذَا حَضَرَتِ الصَّلاَةُ فَلْيُؤَذِّنْ أَحَدُكُمْ وَلْيَؤُمَّكُمْ أَكْبَرُكُمْ  

The time taken by the Prophet ﷺ in prostrations, bowing, and the sitting interval between the two prostrations was about the same.  

كَانَ سُجُودُ النَّبِيِّ ﷺ وَرُكُوعُهُ وَقُعُودُهُ بَيْنَ السَّجْدَتَيْنِ قَرِيبًا مِنَ السَّوَاءِ  

Anas said, "I will leave no stone unturned in making you offer the prayer as I have seen the Prophet ﷺ making us offer it." Anas used to do a thing which I have not seen you doing. He used to stand after the bowing for such a long time that one would think that he had forgotten (the prostrations) and he used to sit in-between the prostrations so long that one would think that he had forgotten the second prostration.  

أَنْ أُصَلِّيَ بِكُمْ كَمَا رَأَيْتُ النَّبِيَّ ﷺ يُصَلِّي بِنَا قَالَ ثَابِتٌ كَانَ أَنَسٌ يَصْنَعُ شَيْئًا لَمْ أَرَكُمْ تَصْنَعُونَهُ كَانَ إِذَا رَفَعَ رَأْسَهُ مِنَ الرُّكُوعِ قَامَ حَتَّى يَقُولَ الْقَائِلُ قَدْ نَسِيَ وَبَيْنَ السَّجْدَتَيْنِ حَتَّى يَقُولَ الْقَائِلُ قَدْ نَسِيَ