Narrated Anas bin Malik: We were coming from Khaibar along with Allah's Messenger (ﷺ) while l was riding behind Abu Talha and he was proceeding. While one of the wives of Allah's Messenger (ﷺ) was riding behind Allah's Messenger, suddenly the foot of the camel Slipped and I said, "The woman!" and alighted (hurriedly). Allah's Apostle said, "She is your mother." Sol resaddled the she-camel and Allah's Messenger (ﷺ) mounted it. When he approached or saw Medina, he said, "Ayibun, ta'ibun, 'abidun, li-Rabbina hami-dun."
Source: sunnah.com
Other translations
Arabic
حَدَّثَنَا الْحَسَنُ بْنُ مُحَمَّدِ بْنِ صَبَّاحٍ، حَدَّثَنَا يَحْيَى بْنُ عَبَّادٍ، حَدَّثَنَا شُعْبَةُ، أَخْبَرَنِي يَحْيَى بْنُ أَبِي إِسْحَاقَ، قَالَ سَمِعْتُ أَنَسَ بْنَ مَالِكٍ ـ رضى الله عنه ـ قَالَ أَقْبَلْنَا مَعَ رَسُولِ اللَّهِ صلى الله عليه وسلم مِنْ خَيْبَرَ، وَإِنِّي لَرَدِيفُ أَبِي طَلْحَةَ وَهْوَ يَسِيرُ وَبَعْضُ نِسَاءِ رَسُولِ اللَّهِ صلى الله عليه وسلم رَدِيفُ رَسُولِ اللَّهِ صلى الله عليه وسلم إِذْ عَثَرَتِ النَّاقَةُ فَقُلْتُ الْمَرْأَةَ. فَنَزَلْتُ. فَقَالَ رَسُولُ اللَّهِ صلى الله عليه وسلم " إِنَّهَا أُمُّكُمْ ". فَشَدَدْتُ الرَّحْلَ وَرَكِبَ رَسُولُ اللَّهِ صلى الله عليه وسلم فَلَمَّا دَنَا أَوْ رَأَى الْمَدِينَةَ قَالَ " آيِبُونَ تَائِبُونَ، عَابِدُونَ لِرَبِّنَا، حَامِدُونَ ".
sunnah.com