Sahih Muslim Book 7, Hadith Number 3118.

Chapter : What is to be recited on return from the journey of Hajj or any other journey.

Anas b. Malik (Allah be pleased with him) reported: I and Abu Talha (both) came back along with Allah’s Apostle (may peace be upon him). Safiyyah (the wife of the Holy Prophet) rode behind him on his camel and as we came to the out-skirts of Medina he said: (We are those) who return, who repent, who worship our Lord, who praise (Him), and he went on uttering this until we entered Medina.