Ali bin Yahya bin Khallad (may Allah have mercy on him) narrates from Sayyiduna Rifa'ah bin Rafi' (may Allah be pleased with him), who was a Companion who had fought at Badr; he said: A man came to the Prophet (peace and blessings be upon him) while he (peace and blessings be upon him) was sitting in the mosque. He prayed close to him (peace and blessings be upon him), then turned away, stood and greeted him with salam. The Messenger of Allah (peace and blessings be upon him) said: "Repeat your prayer, for you have not prayed." So he prayed as he had prayed before, then turned away and stood before the Prophet (peace and blessings be upon him), and the Prophet (peace and blessings be upon him) said to him: "Repeat your prayer, for you have not prayed." He said: O Prophet of Allah, teach me. He (peace and blessings be upon him) said: "When you face the qiblah, say takbir, then recite as much as Allah wills. Then when you bow, put your palms on your knees, stretch out your back and make your bowing firm. Then when you rise, straighten your back until the bones return to their joints. Then when you prostrate, make your prostration firm. Then when you rise, sit on your left thigh, and do the same in every rak'ah and prostration."
Hadith Referenceالمعجم الكبير للطبراني / باب الراء / 4515