Muhammad bin Amr bin Ata said: I heard Abu Humayd (may Allah be pleased with him) say: When the Messenger of Allah (peace and blessings be upon him) stood for the prayer, he would face the qiblah and raise both hands level with his shoulders, then say 'Allahu Akbar' (Allah is the Greatest). When he bowed, he would also say the takbir and raise his hands; then he would level his back, neither lowering his head too much nor raising it too high. Then he would raise his head and say 'Sami'a Allahu liman hamidah' (Allah has heard the one who praised Him). Then he would raise his hands level with his shoulders, then stand up straight until every limb settled evenly in its place. Then he would do the same in the second rak'ah, until, when he stood up from two rak'ahs, he would say the takbir and raise his hands just as he (peace and blessings be upon him) had raised them at the beginning of the prayer; until, when he was in the last prostration of the last rak'ah, after which the salam is given, he would raise his head from the prostration and sit in tawarruk, that is, he would keep the right foot upright and bring the left foot out to the right side from beneath the right leg.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 2815