"I noticed that the Messenger of Allah (ﷺ) was missing from bed, so I started to look for him, and I thought that he had gone to one of his concubines. Then my hand fell on him when he was prostrating and saying: "Allahummaghfirli ma asrartu wa ma a'lant (O Allah, forgive me for what (sin) I have concealed and what I have done openly).'"
Sunan an-Nasa'i Book 12, Hadith 96