When the Prophet ﷺ returned (from Jihad), he would say Takbir thrice and add, "We are returning, if Allah wishes, with repentance and worshipping and praising (our Lord) and prostrating ourselves before our Lord. Allah fulfilled His Promise and helped His Slave, and He Alone defeated the (infidel) clans."  

أَنَّ النَّبِيَّ ﷺ كَانَ إِذَا قَفَلَ كَبَّرَ ثَلاَثًا قَالَ آيِبُونَ إِنْ شَاءَ اللَّهُ تَائِبُونَ عَابِدُونَ حَامِدُونَ لِرَبِّنَا سَاجِدُونَ صَدَقَ اللَّهُ وَعْدَهُ وَنَصَرَ عَبْدَهُ وَهَزَمَ الأَحْزَابَ وَحْدَهُ  

We were in the company of the Prophet ﷺ while returning from 'Usfan, and Messenger of Allah ﷺ was riding his she-camel keeping Safiya bint Huyay riding behind him. His she-camel slipped and both of them fell down. Abu Talha jumped from his camel and said, "O Messenger of Allah ﷺ! May Allah sacrifice me for you." The Prophet ﷺ said, "Take care of the lady." So, Abu Talha covered his face with a garment and went to Safiya and covered her with it, and then he set right the condition of their shecamel so that both of them rode, and we were encircling Messenger of Allah ﷺ like a cover. When we approached Medina, the Prophet ﷺ said, "We are returning with repentance and worshipping and praising our Lord." He kept on saying this till he entered Medina.  

كُنَّا مَعَ النَّبِيِّ ﷺ مَقْفَلَهُ مِنْ عُسْفَانَ وَرَسُولُ اللَّهِ ﷺ عَلَى رَاحِلَتِهِ وَقَدْ أَرْدَفَ صَفِيَّةَ بِنْتَ حُيَىٍّ فَعَثَرَتْ نَاقَتُهُ فَصُرِعَا جَمِيعًا فَاقْتَحَمَ أَبُو طَلْحَةَ فَقَالَ يَا رَسُولَ اللَّهِ جَعَلَنِي اللَّهُ فِدَاءَكَ قَالَ عَلَيْكَ الْمَرْأَةَ فَقَلَبَ ثَوْبًا عَلَى وَجْهِهِ وَأَتَاهَا فَأَلْقَاهَا عَلَيْهَا وَأَصْلَحَ لَهُمَا مَرْكَبَهُمَا فَرَكِبَا وَاكْتَنَفْنَا رَسُولَ اللَّهِ ﷺ فَلَمَّا أَشْرَفْنَا عَلَى الْمَدِينَةِ قَالَ آيِبُونَ تَائِبُونَ عَابِدُونَ لِرَبِّنَا حَامِدُونَ فَلَمْ يَزَلْ يَقُولُ ذَلِكَ حَتَّى دَخَلَ الْمَدِينَةَ  

That he and Abu Talha came in the company of the Prophet ﷺ and Safiya was accompanying the Prophet, who let her ride behind him on his she-camel. During the journey, the she-camel slipped and both the Prophet ﷺ and (his) wife fell down. Abu Talha (the sub-narrator thinks that Anas said that Abu Talha jumped from his camel quickly) said, "O Messenger of Allah ﷺ! May Allah sacrifice me for your sake! Did you get hurt?" The Prophet ﷺ replied,"No, but take care of the lady." Abu Talha covered his face with his garment and proceeded towards her and covered her with his garment, and she got up. He then set right the condition of their she-camel and both of them (i.e. the Prophet ﷺ and his wife) rode and proceeded till they approached Medina. The Prophet ﷺ said, "We are returning with repentance and worshipping and praising our Lord." The Prophet ﷺ kept on saying this statement till he entered Medina.  

أَنَّهُ أَقْبَلَ هُوَ وَأَبُو طَلْحَةَ مَعَ النَّبِيِّ ﷺ وَمَعَ النَّبِيِّ ﷺ صَفِيَّةُ مُرْدِفَهَا عَلَى رَاحِلَتِهِ فَلَمَّا كَانُوا بِبَعْضِ الطَّرِيقِ عَثَرَتِ النَّاقَةُ فَصُرِعَ النَّبِيُّ ﷺ وَالْمَرْأَةُ وَإِنَّ أَبَا طَلْحَةَ قَالَ أَحْسِبُ قَالَ اقْتَحَمَ عَنْ بَعِيرِهِ فَأَتَى رَسُولَ اللَّهِ ﷺ فَقَالَ يَا نَبِيَّ اللَّهِ جَعَلَنِي اللَّهُ فِدَاءَكَ هَلْ أَصَابَكَ مِنْ شَىْءٍ قَالَ لاَ وَلَكِنْ عَلَيْكَ بِالْمَرْأَةِ فَأَلْقَى أَبُو طَلْحَةَ ثَوْبَهُ عَلَى وَجْهِهِ فَقَصَدَ قَصْدَهَا فَأَلْقَى ثَوْبَهُ عَلَيْهَا فَقَامَتِ الْمَرْأَةُ فَشَدَّ لَهُمَا عَلَى رَاحِلَتِهِمَا فَرَكِبَا فَسَارُوا حَتَّى إِذَا كَانُوا بِظَهْرِ الْمَدِينَةِ أَوْ قَالَ أَشْرَفُوا عَلَى الْمَدِينَةِ قَالَ النَّبِيُّ ﷺ آيِبُونَ تَائِبُونَ عَابِدُونَ لِرَبِّنَا حَامِدُونَ فَلَمْ يَزَلْ يَقُولُهَا حَتَّى دَخَلَ الْمَدِينَةَ