Ahmed bin Ibrahim bin Kathir أحمد بن إبراهيم بن كثير · The Book on Salat (Prayer)

"I saw Allah's Messenger when he prostrated placing his knees (on the ground) before his hands, and when he got up, he raised his hands before his knees."

"Allah's Messenger (S) would pray four Rak'ah before Al-Asr separating between them with At-Taslim upon the angels that are close (to Allah) and those who follow them among the Muslims and the believers."