What should one do who realizes that he did not bow correctly while rising from bowing, or made a mistake in the takbir or tasmi' while moving? And what should he do if he made a mistake in the takbir or tasmi' after he has already risen from bowing or prostrating, or has inclined for them?

The sufficient bowing (rukū') is to bend down such that the hands touch the knees, with ṭuma'nīnah (tranquility/stillness) and one glorification (tasbīḥah). The sufficient prostration (sujūd) is to prostrate on the seven limbs, with ṭuma'nīnah and one glorification. If one does not bow sufficiently, one must return and perform it. Ṭuma'nīnah is a pillar in bowing, prostration, and the sitting between them, and it is stillness, even if slight. If the worshipper makes a mistake in the takbīr of transition after bowing or prostration, he should not return, but perform the prostration of forgetfulness (sujūd as-sahw). As for a mistake in saying " Sami‘a Allāhu li-man ḥamidah " (Allah hears those who praise Him), it should be repeated while standing. One must beware of doubts and whispers (wasāwis).