iOS 10 on the iPhone introduces two new technologies: raise to activate, so that the iPhone magically shows its lock screen when you lift it; and the requirement to press the Home button to wake the device and get to your apps. You can no longer simply rest your finger on the Home button to be recognized by TouchID. Now you must push the button.
Here’s how to turn that off. It’s easy.
Open the Settings app, then tap General > Accessibility. Scroll down to the Home Button heading, tap it, and then tap the switch alongside Rest Finger to Open.
That’s it. Notably, the home screen will still say “Press Home to Unlock”. However, you can now just rest your finger on the Home button to get to your home screen.