Anas (May Allah be pleased with him) reported:
We returned with the Prophet (ﷺ) from a journey; and when we entered the suburbs of Al- Madinah, he (ﷺ) said: "Ayibuna, ta'ibuna, 'abiduna, li-Rabbina hamidun (We are returning in safety, turning to our Rubb, worshipping Him and praising Him)." He (ﷺ) continued repeating these words till we entered Al-Madinah.[Muslim].
App reference: Book 8, Hadith 32
Arabic/English book reference: Book 8, Hadith 987