The Messenger of Allah ﷺ often said while bowing and prostrating himself; “Glory be to Thee, O Allah, out Lord.” And “Praise be to Thee, O Allah, forgive me,” Thus interpreting the (command in the Qur’an). (Using translation from Abū Dāʾūd 877)  

كَانَ رَسُولُ اللهِ ﷺ يَقُولُ فِي رُكُوعَهُ وَسُجُودِهِ «سُبْحَانَكَ اللهُمَّ رَبَّنَا وَبِحَمْدِكَ اللهُمَّ اغْفِرْ لِي يَتَأَوَّلُ الْقُرْآنَ»