Musnad Ahmad 724:4

Yazid ibn Harun narrated to us, he said: Muhammad ibn ‘Amr informed us, from ‘Ali ibn Yahya ibn Khallad al-Zuraqi, from Rifa‘ah ibn Rafi‘ al-Zuraqi—and he was one of the companions of the Prophet, may Allah bless him and grant him peace—who said: A man came while the Messenger of Allah, may Allah bless him and grant him peace, was sitting in the mosque. He prayed near him, then turned to the Messenger of Allah, may Allah bless him and grant him peace, and greeted him. The Messenger of Allah, may Allah bless him and grant him peace, said: "Repeat your prayer, for you have not prayed." He said: So he returned and prayed in the same manner as he had prayed, then turned to the Messenger of Allah, may Allah bless him and grant him peace. He said to him: "Repeat your prayer, for you have not prayed." He said: O Messenger of Allah, teach me how I should do it. He said: "When you face the Qiblah, say the Takbir, then recite the Mother of the Qur’an, then recite whatever you wish. When you bow, place your palms on your knees, straighten your back, and be steady in your bowing. When you raise your head, straighten your spine until the bones return to their joints. When you prostrate, be steady in your prostration. When you raise your head, sit on your left thigh. Then do that in every rak‘ah and prostration."