Musannaf Ibn Abi Shayba 21:492

Abu al-Ahwas narrated to us, from Simak, from Ikrimah, from Ibn Abbas, that the Prophet (peace and blessings of Allah be upon him), when he intended to return from his journey, would say: "Returning, repenting, worshipping, to our Lord praising." And when he entered upon his family, he would say: "Repentance, repentance, to our Lord we return, leaving no sin upon us."