Yazid bin Abdullah says that once my father heard me reciting Bismillah aloud in prayer, so he said, "Son, avoid this." Yazid says, "I have not seen any companion of the Prophet (peace be upon him) hate innovation as much as he did, because I have prayed with the Prophet (peace be upon him) and the three caliphs, and I did not hear any of them recite Bismillah aloud, so you should not do so either. Rather, begin the recitation with 'Alhamdulillahi Rabbil Alamin.'"