Anas ibn Malik reported: Abu Talha and I returned from a journey along with the Prophet, peace and blessings be upon him, and Safiyya rode behind him on his camel. When we reached the outskirts of Medina, the Prophet said, “We are returning and repenting, worshiping our Lord and praising Him.” The Prophet continued to say this until we reached Medina.
Source: Ṣaḥīḥ al-Bukhārī 3086, Ṣaḥīḥ Muslim 1345
Grade: Muttafaqun Alayhi (authenticity agreed upon) according to Al-Bukhari and Muslim
عَنْ أَنَسِ بْنِ مَالِكٍ قَالَ أَقْبَلْنَا مَعَ النَّبِيِّ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ أَنَا وَأَبُو طَلْحَةَ وَصَفِيَّةُ رَدِيفَتُهُ عَلَى نَاقَتِهِ حَتَّى إِذَا كُنَّا بِظَهْرِ الْمَدِينَةِ قَالَ آيِبُونَ تَائِبُونَ عَابِدُونَ لِرَبِّنَا حَامِدُونَ فَلَمْ يَزَلْ يَقُولُ ذَلِكَ حَتَّى قَدِمْنَا الْمَدِينَةَ
3086 صحيح البخاري كتاب الجهاد والسير باب ما يقول إذا رجع من الغزو
1345 صحيح مسلم كتاب الحج باب ما يقول إذا قفل من سفر الحج وغيره