The Prophet ﷺ frequently said in his bowing and prostration, "Glory be to You, O Allah, our Lord, and praise be to You. O Allah, forgive me," following the guidance of the Quran.
كان النبي ﷺ لا يكثر أن يقول في ركوعه وسجوده: سبحانك اللهم ربنا وبحمدك، اللهم اغفر لي يتأول القرآن.
Bukhari narrated it in the tafsir (4968), and Muslim in the prayer (484), both of them through the route of Jareer, from Mansur, from Abu Duha, from Masruq, from Ayesha, who said, and she narrated it, and their wording is the same.