Mishkat al-Masabih 790
Abu Huraira said that a man entered the mosque when God’s Messenger was sitting in it and prayed. He then came and said, “Peace be upon you,” and God’s Messenger replied, “And upon you be peace. Go back and pray, for you have not prayed.” He returned and prayed, then came and said, “Peace be upon you,” to which he replied, “And upon you be peace. Go back and pray, for you have not prayed.” On the third or fourth occasion he said, “Teach me, Messenger of God,” so he said:
“When you get up to pray perform the ablution perfectly, then face the qibla and say, “God is most great.” Then recite a convenient portion of the Qur’an; then bow and remain quietly in that attitude; then raise yourself and stand erect; then prostrate yourself and remain quietly in that attitude; then raise yourself and sit quietly; then prostrate yourself and remain quietly in that attitude; then raise yourself and sit quietly.” A version has, “Then raise yourself and stand erect; then do that throughout all your prayer.” 

(Bukhari and Muslim.)
عَنْ أَبِي هُرَيْرَةَ رَضِيَ اللَّهُ عَنْهُ: أَنَّ رَجُلًا دَخَلَ الْمَسْجِدَ وَرَسُولُ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ جَالِسٌ فِي نَاحِيَةِ الْمَسْجِدِ فَصَلَّى ثُمَّ جَاءَ فَسَلَّمَ عَلَيْهِ فَقَالَ لَهُ رَسُولُ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسلم: «وَعَلَيْك السَّلَام ارْجِعْ فَصَلِّ فَإِنَّكَ لَمْ تُصَلِّ» . فَرَجَعَ فَصَلَّى ثُمَّ جَاءَ فَسَلَّمَ فَقَالَ: «وَعَلَيْكَ السَّلَامُ ارْجِعْ فَصَلِّ فَإِنَّكَ لَمْ تُصَلِّ» فَقَالَ فِي الثَّالِثَةِ أَوْ فِي الَّتِي بَعْدَهَا عَلِّمْنِي يَا رَسُولَ اللَّهِ فَقَالَ: «إِذَا قُمْتَ إِلَى الصَّلَاةِ فَأَسْبِغِ الْوُضُوءَ ثُمَّ اسْتَقْبِلِ الْقِبْلَةَ فَكَبِّرْ ثُمَّ اقْرَأْ بِمَا تَيَسَّرَ مَعَكَ مِنَ الْقُرْآنِ ثُمَّ ارْكَعْ حَتَّى تَطْمَئِنَّ رَاكِعًا ثُمَّ ارْفَعْ حَتَّى تَسْتَوِّيَ قَائِمًا ثُمَّ اسْجُدْ حَتَّى تَطْمَئِنَّ سَاجِدًا ثُمَّ ارْفَعْ حَتَّى تَطْمَئِنَّ جَالِسًا ثُمَّ اسْجُدْ حَتَّى تَطْمَئِنَّ سَاجِدًا ثُمَّ ارْفَعْ حَتَّى تَطْمَئِنَّ جَالِسًا» . وَفِي رِوَايَةٍ: «ثُمَّ ارْفَعْ حَتَّى تَسْتَوِيَ قَائِمًا ثمَّ افْعَل ذَلِك فِي صَلَاتك كلهَا»