Is there a Hadith in the Two Sahihs where the Prophet (peace be upon him) describes prayer himself?

There are many hadiths that show the correct way to pray, including the hadith narrated by Abu Hurayrah (may Allah be pleased with him) about the man who did not pray well. The Prophet (peace and blessings of Allah be upon him) taught him to perform wudu’ thoroughly, then face the qiblah and say takbeer, then recite whatever is easy for him from the Qur’an. Then, he should bow until he is at ease in bowing, then rise until he is standing upright. Then, he should prostrate until he is at ease in prostration, and then rise until he is at ease in sitting. He should do that throughout all his prayers.

Among them is the hadith of Amr ibn Abasah al-Sulami, who asked the Prophet (peace and blessings of Allah be upon him) about prayer. He informed him of the prohibited times for prayer (after Fajr prayer until the sun rises, and after Asr prayer until the sun sets), and he explained to him the virtue of wudu’ and that it expiates sins.