اللَّهُمَّ اكْتُبْ لِي بِهَا عِنْدَكَ أَجْرًا ، وَضَعْ عَنِّي بِهَا وِزْرًا ، وَاجْعَلْهَا لِي عِنْدَكَ ذُخْرًا ، وَتَقَبَّلْهَا مِنِّي كَمَا تَقَبَّلْتَهَا مِنْ عَبْدِكَ دَاوُدَ
Translation 
O Allah, record for me a reward for this (prostration), and remove from me a sin. Save it for me and accept it from me just as You had accepted it from Your slave Dawood (peace be upon him).
Transliteration
allaahumm-aktub lee bihaa ‛indaka ajr-an, wa ḍa‛ ‛annee bihaa wizr-an, waj‛alhaa lee ‛indaka dhukhr-an, wa taqabbalhaa minnee kamaa taqabbaltahaa min ‛abdika daawud
Sources:
At-Tirmidhi No# 579, 3424
