When the Messenger of Allah (ﷺ) prostrated he would say: "Allahumma laka sajadtu wa laka aslamtu wa bika amantu sajada wajhi lilladhi khalaqahu wa sawwarahu fa ahsana suratahu wa shaqqa sam'ahu wa basarahu, tabarak Allahu ahsanul-khaliqin ( O Allah, to You I have prostrated and to You I have submitted, and in You I have believed. My face has prostrated to the One Who created it and shaped it and shaped it well, and brought forth its hearing and sight. Blessed be Allah the best of Creators.)"
Reference: Sunan an-Nasa'i 1126 In-book : Book 12, Hadith 98 English translation : Vol. 2, Book 12, Hadith 1127
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