From the Qur'an
رَبِّ ارْحَمْهُمَا كَمَا رَبَّيَانِي صَغِيرًا
Rabbi irhamhuma kama rabbayani saghira.
My Lord, have mercy upon them as they brought me up when I was small.
Plain text (no diacritics)
رب ارحمهما كما ربياني صغيرا
Allah commanded you in the Qur'an itself to supplicate for your parents, pairing it with lowering the wing of humility: 'And say: My Lord, have mercy upon them as they brought me up when I was small.'
That verse is itself the supplication. You need not look for a better one — it is the one Allah taught you.
If they have died, supplication is what remains of your dutifulness to them, and it is among the three things by which a person's deeds continue. Let no day pass without it.
رَبِّ ارْحَمْهُمَا كَمَا رَبَّيَانِي صَغِيرًا
Rabbi irhamhuma kama rabbayani saghira.
My Lord, have mercy upon them as they brought me up when I was small.
رب ارحمهما كما ربياني صغيرا
رَبَّنَا اغْفِرْ لِي وَلِوَالِدَيَّ وَلِلْمُؤْمِنِينَ يَوْمَ يَقُومُ الْحِسَابُ
Rabbana ighfir li wa liwalidayya wa lil-mu'minina yawma yaqumul-hisab.
Our Lord, forgive me, my parents and the believers on the Day the account is established.
ربنا اغفر لي ولوالدي وللمؤمنين يوم يقوم الحساب
اللَّهُمَّ اغْفِرْ لَهُمَا وَارْحَمْهُمَا، وَعَافِهِمَا وَاعْفُ عَنْهُمَا، وَأَكْرِمْ نُزُلَهُمَا، وَوَسِّعْ مُدْخَلَهُمَا، وَاجْعَلِ الْجَنَّةَ مَثْوَاهُمَا
Allahumma ighfir lahuma warhamhuma, wa 'afihima wa'fu 'anhuma, wa akrim nuzulahuma, wa wassi' mudkhalahuma, waj'alil-jannata mathwahuma.
O Allah, forgive them both and have mercy on them, grant them well-being and pardon them, honour their resting place, widen their entry, and make Paradise their abode.
اللهم اغفر لهما وارحمهما، وعافهما واعف عنهما، وأكرم نزلهما، ووسع مدخلهما، واجعل الجنة مثواهما
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'Rabbi irhamhuma kama rabbayani saghira' (al-Isra' 24) — because Allah Himself taught it in His Book.
Yes, and it is the greatest of what reaches them: 'a righteous child who supplicates for him' (Muslim).