It is narrated from Hazrat Bara (may Allah be pleased with him) that whenever the Noble Prophet (peace and blessings be upon him) returned from a journey, he would recite this supplication: "We are returning in repentance, and we are worshippers of our Lord and praisers of Him." The previous hadith is also narrated through this second chain of transmission.
Hadith Referenceمسند احمد / أول مسند الكوفيين / 18658
Hadith Gradingحکم دارالسلام:حديث صحيح، وقد خالف فيه سفيان الثوري شعبة