Abu Dawud 3/314 with an authentic chain. Ahmad also recorded it with the wording: With the Name of Allah, and according to the religion of the Messenger of Allah. Its chain is also authentic.
Hisnul Muslim 163
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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 58th chapter, "Placing the deceased in the grave" 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.