How do Allah and His angels pray upon the Prophet (peace be upon him), and how do we, as Muslims, pray upon him?

The prayer from Allah the Almighty upon the Prophet is His praise of him in the presence of the archangels in the Most High Assembly. As for the prayer of the angels, it is a supplication for blessings upon him. And the prayer of the servants upon him, peace be upon him, is a supplication to Allah the Almighty to praise him in the Most High Assembly.