It is narrated from Ibn Shihab that Abu Bakr bin Abd al-Rahman bin al-Harith informed him that he heard Sayyiduna Abu Hurayrah (may Allah be pleased with him) say: When the Messenger of Allah (peace and blessings be upon him) stood up for the prayer, he said the takbir when standing, then said the takbir while bowing, then said 'Sami' Allahu liman hamidah' (Allah hears the one who praises Him) when straightening his back from the bowing, then, once standing upright, he said: 'Rabbana wa lakal-hamd' (Our Lord, and to You belongs all praise). Then he said the takbir while going down into prostration, after that he said the takbir while raising his head from the prostration, and he did the same throughout the whole prayer until he completed it, and he also said the takbir when rising after the two rak'ahs.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 2492