Authentic Supplication Number 87.

`A’ishata  said: The Messenger of Allah  used to plentifully say in his bowing and his prostration: Subhanaka ‘allahumma rabbana wa bihamdika, ‘allahumma ‘ighfirlee (102) in interpretation of the Qur’an. She meant the verse: “Sabbih (103) in praise of thy Lord, and pray for His forgiveness: For He is Oft-Returning [In forgiveness].”

(102) Glorified are You my ‘ilah, our Lord, and [I, or we are] in your Praise. My ‘ilah forgive me.
(103) See footnotes 8 and 12.

Agreed upon by Al-Bukhari and Muslim, and Al-Albani included this hadeeth in The Authentic of Good Sayings as #70.