It is narrated from Sayyidah Aishah (may Allah be pleased with her) that the Messenger of Allah (peace and blessings be upon him) would frequently make this supplication in his bowing and prostration: 'Subhanaka Allahumma rabbana wa bihamdika, Allahummaghfir li' (Glory be to You, O Allah, our Lord, and all praise is Yours. O Allah, forgive me). He was acting upon what Allah had commanded him in the Qur'an.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 2682