Abu Dawud 4/296. Al-Albani graded it authentic in Sahih Abu Dawud 3/941.
Hisnul Muslim 210
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For those unfamiliar, Hisnul Muslim (Fortress of the Muslim) is a well-known du'a book compiled by Said Bin Ali Bin Wahf Al-Qahtani. It categorizes authentic supplications that the Prophet ﷺ made in various situations. In the 99th chapter, "When the mounted animal (or mean of transport) stumbles" there is 1 supplication that you can learn and recite.
Tips for learning:
We've created a video for each du'a to try and make it easy to learn. There's also transliteration and translation for every du'a. Lastly, after pressing the play button you can tap on any word and it'll skip to that part in the audio.