Bulugh al-Maram 295

Narrated Abu Hurairah (RA): When Allah's Messenger (ﷺ) got up to pray, he would say the Takbir when standing up, then would say the Takbir when bowing, then he would say Sami'Allahu liman hamidah (Allah listens to him who praises Him) when rising up from the bowing position, then he would say while standing Rabbana wa lakal-hamd (our Rabb, the praise is Yours), then he would say the Takbir when going down for prostration, then when raising his head up, then when he prostrated again, then when raising his head up. He would then do that throughout the whole Salat (prayer) and he would say the Takbir when he got up - at the end of two Rak'a - from the sitting position." [Agreed upon].