[Machine] The Messenger of Allah ﷺ used to commence the prayer with the takbir (saying "Allahu Akbar") and commence the recitation with "Alhamdulillahi Rabbil 'alameen" (Praise be to Allah, Lord of all the worlds) [Al-Fatihah: 2]. And he concludes it with the tasleem (saying "Assalamu 'alaykum wa rahmatullah")  

كَانَ رَسُولُ اللَّهِ ﷺ يَفْتَتِحُ الصَّلَاةَ بِالتَّكْبِيرِ وَيَفْتَتِحُ الْقِرَاءَةَ بِ {الحمْدُ لِلَّهِ رَبِّ الْعَالَمِينَ} [الفاتحة 2] وَيَخْتِمُهَا بِالتَّسْلِيمِ