How to disable iOS 10's Raise to Wake display feature: an illustrated guide

With iOS 10, Apple is bringing a useful feature to the crowds - Raise to Wake, which does exactly what it sounds like. Pick up your phone from, say, a flat surface, and voila, the display will light up, showing you your lock screen and all of the notifications you might have on it. Still, have in mind it will only work on iPhones with the M9 co-processor on board: the iPhone 6s, 6s Plus, and the iPhone SE.