It was narrated that 'Aishah said: "The Messenger of Allah (ﷺ) often used to say when bowing and prostrating: “Subhanaka Rabbana wa bi Hamdika, Allahumm aghfirli (Glorfy and praise be to You, our Lord. O Allah, forgive me)”"
SahihSahihSahih - Agreed UponBook 12 · Hadith 19