‘Abdullah ibn Mas’ud (RA) said that the Prophet (ﷺ) used to say in bowing and prostration:
سُبْحَانَكَ وَبِحَمْدِكَ أَسْتَغْفِرُكَ وَأَتُوْبُ اِلَيْكَ
Pronunciation
Subhaanaka wa bihamdika, 'astaghfiruka wa 'atoobu 'ilayk
Meaning
Glory is to You O Allah, and praise. I ask you for forgiveness and I turn to you (from sinning).
Source: Hasan (Albani). Silsila Sahiha: 3032
Duas from IslamicAPI's Masnun Dua dataset (based on the Quran, hadith, Hisnul Muslim and Rahe Belayat). See the dataset