It was narrated from Al-Aswad and 'Alqamah, that Abdullah bin Mas'ud said:
"We were with the Messenger of Allah (ﷺ) and we did not know anything, then the Messenger of Allah (ﷺ) said to us: "Every time you sit (in prayer), say: At-tahiyyatu lillahi was-salawatu wat-tayyibat, as-salamu 'alaika ayyuhan-Nabiyyu wa rahmatAllahi wa baraktuhu. As-salamu 'alaina wa 'ala 'ibad illahis-salihin, ashahdu an la illaha ill-Allah wa ashhadu anna Muhammadan 'abduhu wa rasuluhu (Allah compliments, prayers and pure words are due to Allah. Peace be upon you, O Prophet, and the mercy of Allah (SWT) and his blessings. Peace be upon us and upon the righteous slaves of Allah (SWT). I bear witness that none has the right to be worshipped except Allah and I bear witness that Muhammad is His slave and Messenger)."
Reference: Sunan an-Nasa'i 1166 In-book : Book 12, Hadith 138 English translation : Vol. 2, Book 12, Hadith 1167
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