Should one go down from bowing (Ruku') to prostrating (Sujud) on the hands or the knees first, and should one rise from prostrating (Sujud) on the hands or the knees?

The preponderant view regarding rising from the ground is that the worshiper should stand up supporting himself on his hands. This is the opinion of the majority of jurists, such as Malik, Al-Shafi'i, Abu Hanifa, and their companions, and it has been narrated from Ibn 'Umar.