This prayer was composed by Sayyidi Habib Umar bin Hafiz:
اللَّهُمَّ صَلِّ و سَلِّمْ على سَيِّدِنا مُحَمَّدٍ سَيِّدِ أَهْلِ الشُّهود صَلاةً و سَلاماً نَرْقَى بهِما في مَعَارِجِ القُرْبِ إلى المعْبُود وعلى آلِهِ وصَحْبِهِ و التَّابِعيِنَ لَهُمْ بِإِحْسَانٍ إلى يَوْمِ المَوْعُود
Allāhumma ṣalli wa sallim ‘alā sayyidinā Muḥammadin Sayyidi Ahli-shuhūd ṣalātan wa salāman narqā bihimā fī ma’ariji’l-qurbi il’al-ma’būd wa ‘ala ālihi wa ṣaḥbihi wa’attābi’ina lahum bi iḥsānin ilā yawmil-maw’ud
O Allah, bestow prayers and peace upon our Master Muhammad, the Master of the people of divine witnessing, and through that allow us to ascend the paths which grant proximity to the One we worship, and upon his Family and Companions and those that follow them in excellence until the Promised Day.