It is narrated from the Mother of the Believers, Sayyidah Aishah (may Allah be pleased with her), that the Messenger of Allah (peace and blessings be upon him) used to begin the prayer with the takbir and begin the recitation with "All praise is for Allah, the Lord of all the worlds" [Surah al-Fatihah: 2].
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 2260