Volumn 001, Book 012, Hadith Number 791. 

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Narated By Muhammad bin 'Amr bin 'Ata' : I was sitting with some of the companions of Allah's Apostle

and we were discussing about the way of praying of the Prophet. Abu Humaid As-Saidi said, "I remember the prayer of Allah's Apostle better than any one of you. I saw him raising both his hands up to the level of the shoulders on saying the Takbir; and on bowing he placed his hands on both knees and bent his back straight, then he stood up straight from bowing till all the vertebrate took their normal positions.

In prostrations (Sajda), he placed both his hands on the ground with the forearms away from the ground and away from his body, and his toes were facing the Qibla.

On sitting In the second Rak'a he sat on his left foot and propped up the right one; and in the last Rak'a he pushed his left foot forward and kept the other foot propped up and sat over the buttocks."