The دعاء upon returning from travel is: 'Ayibuna ta'ibuna 'abiduna li Rabbina hamidun' — We return repentant, worshipping, and praising our Lord. النبي would recite this upon returning from any journey, including الحج and العمرة, along with Takbir on every elevated ground.
آيِبُونَ تَائِبُونَ عَابِدُونَ لِرَبِّنَا حَامِدُونَ
Ayibuna ta'ibuna 'abiduna li Rabbina hamidun.
Meaning: We return repentant, worshipping, and praising our Lord.
Source: Sahih Muslim #1344هذا الدعاء expresses the الحاج's spiritual state upon returning: one who repents (ta'ib), worships ('abid), and praises (hamid). النبي never returned from a journey without this remembrance, turning the homecoming into an act of worship. It is also السنة to pray two ركعةs in the local masjid upon arrival.
آيِبُونَ تَائِبُونَ عَابِدُونَ لِرَبِّنَا حَامِدُونَ
When the Prophet (peace be upon him) would return from a military expedition, Hajj, or Umrah, he would say Takbir on every elevated ground three times, then say: 'La ilaha illallahu wahdahu la sharika lah, lahul-mulku wa lahul-hamdu wa huwa 'ala kulli shay'in qadir. Ayibuna ta'ibuna 'abiduna sajiduna li Rabbina hamidun. Sadaqallahu wa'dah, wa nasara 'abdah, wa hazamal-ahzaba wahdah.'