The Prophet ﷺ used to say frequently in his bowing and prostrations "Subhanaka l-lahumma Rabbana wa bihamdika, Allahumma ghfir li" (Exalted [from unbecoming attributes] Are you O Allah our Lord, and by Your praise [do I exalt you]. O Allah! Forgive me). In this way [??] he was acting on what was explained to him in the Holy Qur'an.  

أَنَّهَا قَالَتْ كَانَ النَّبِيُّ ﷺ يُكْثِرُ أَنْ يَقُولَ فِي رُكُوعِهِ وَسُجُودِهِ سُبْحَانَكَ اللَّهُمَّ رَبَّنَا وَبِحَمْدِكَ اللَّهُمَّ اغْفِرْ لِي يَتَأَوَّلُ الْقُرْآنَ