Mishkat al-Masabih #816
Prayer
The Arabic includes the chain of narration (sanad) and the collector's commentary; the English translation shows the Prophet's words only.
وَعَنْ عَائِشَةَ رَضِيَ اللَّهُ عَنْهَا قَالَتْ: كَانَ النَّبِيُّ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ يُكْثِرُ أَنْ يَقُولَ فِي رُكُوعِهِ وَسُجُودِهِ: «سُبْحَانَكَ اللَّهُمَّ رَبَّنَا وَبِحَمْدِكَ اللَّهُمَّ اغْفِرْ لِي» يَتَأَوَّلُ الْقُرْآن
‘A’isha told how the Prophet often said while bowing and prostrating himself, “Glory be to Thee, O God, our Lord, and praise be to Thee. O God, forgive me," thus complying with the the Qur’an (Al-Qur’an; 110-3).
(Bukhari and Muslim.)
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About Mishkat al-Masabih
This hadith is #816 from Mishkat al-Masabih, in the Book of Prayer.