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After installing iOS 10, I found that the screen on my iPhone 6s turned on at seemingly random times, and it slightly annoyed me. I now know that this feature does what it is supposed to (turn the screen on when the phone enters certain positions), but I want to disable it.

Is there a setting can I use to do so?

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I believe you are referring to the new Raise to Wake functionality.

It can be disabled by going into SettingsDisplay & Brightness. Toggle Raise to Wake Off.

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