عن ابن عمر -رضي الله عنهما- أن رسول الله -صلى الله عليه وسلم- كان يَرفع يَديه حَذو مَنْكِبيه إذا افتتح الصلاة، وإذا كَبَّر للركوع، وإذا رفع رأسه من الركوع، رفَعَهما كذلك أيضا، وقال: سمع الله لمن حَمِدَه، ربَّنَا ولك الحَمد، وكان لا يَفعل ذلك في السُّجود.
[صحيح.] - [رواه البخاري.]
المزيــد ...

Ibn ‘Umar (may Allah be pleased with him) reported: The Messenger of Allah (may Allah’s peace and blessings be upon him) used to raise his hands up to his shoulders at the beginning of the prayer, when saying the Takbīr for bowing, and when raising his head from bowing, after which he used to say: "Allah hears the one who praises Him, our Lord, to You belongs praise." He did not use to do this (raising his hands) in prostration.
[Sahih/Authentic] - [Al-Bukhari]

Explanation

At the opening of the prayer, the Prophet (may Allah's peace and blessings be upon him) used to raise his hands up to exactly the level of his shoulders. Likewise, he used to do the same before bowing, and on his way up from bowing. Therefore, it is recommended to raise one’s hands in these three places in the prayer. He used to say when rising from bowing: "Allah hears the one who praises Him, our Lord, to You belongs praise." This is exclusive to the Imām and the one who is praying alone. As for the one who is praying behind an Imām in congregation, he should only say "our Lord, to You belongs praise". This is supported by a Hadīth narrated by Al-Bukhāri and Muslim in which Anas (may Allah be pleased with him) reported that the Prophet (may Allah's peace and blessings be upon him) said: "If he (the Imām) says: 'Allah hears the one who praises Him', then say: 'our Lord, to You belongs praise.'” He did not use to raise his hands when going down for prostration, nor when rising up from it. This is supported by another narration of Al-Bukhāri that reads: "And he would not do that (raising his hands) when he prostrates, nor when he raises his head from prostration.”

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