Habib Ali al-Habashi (may Allah have mercy upon him and allow us to benefit from him) teaches us to use this prayer to seek the pleasure of Allah and His Messenger ﷺ and to ask that our actions and intentions be so connected to the Prophet that they are at one with him. Sayyidi Habib Umar bin Hafiz placed this prayer in his Hadrah Badriyyah.
اللَّهُمَّ صَلِّ وسَلِّمْ على سَيِّدِنا مُحَمَّدٍ ، صَلاةً تُرْضِيكَ وتُرْضِيهِ ، وتَنْطَوِي بِها أَعْمَالي ونِيَّاتي وحَرَكَاتي وسَكَناتي فِيه
Allahumma salli wa sallim `ala sayyidina Muhammad salatan turdika wa turdihi wa tantawi biha a`mali wa niyyaati wa harakaati wa sakanaati fih
O Allah, bestow Your prayers and peace upon our Master Muhammad, prayers which allow us to attain Your pleasure and his and cause my actions, intentions, movements and stillness to be enveloped in him.