Sayyiduna Rifa'ah bin Rafi' (may Allah be pleased with him) narrates that a man entered the mosque and prayed, and the Messenger of Allah (peace and blessings be upon him) kept watching his prayer closely, while we were not aware of it. When he finished the prayer he greeted the Messenger of Allah (peace and blessings be upon him) with salam, and he (peace and blessings be upon him) said to him: "Go and pray again, your prayer has not been done." He went back and prayed again, then came to the Messenger of Allah (peace and blessings be upon him) and greeted him, and he (peace and blessings be upon him) said to him: "Go and pray again, your prayer has not been done." When this had happened two or three times, the man said: By Allah, who has honoured you, O Messenger of Allah! I have tried my best; now teach me. He (peace and blessings be upon him) said: "When you come intending to pray, perform ablution well, then face the qiblah and say the takbir, then recite, after that bow with calmness, then rise from bowing and stand straight, then prostrate with calmness, then rise from prostration and sit up straight with calmness. After that perform the second prostration with calmness, then raise your head from prostration, and then do the same until you finish your prayer."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3945