“The Messenger of Allah (ﷺ) often used to say when bowing and prostrating: ‘Subhanak Allahumma wa bi hamdika, Allahummaghfir li (Glory be to You, O Allah, and praise; O Allah forgive me),’ following the command given by the Quran.”[Surat An-Nasr (110)]
Sunan Ibn Majah Book 5, Hadith 87