وَعَنْ عَائِشَةَ رَضِيَ اللَّهُ عَنْهَا قَالَتْ: كَيْفَ أَقُولُ يَا رَسُولَ اللَّهِ؟ تَعْنِي فِي زِيَارَةِ الْقُبُورِ قَالَ: " قُولِي: السَّلَامُ عَلَى أَهْلِ الدِّيَارِ مِنَ الْمُؤْمِنِينَ وَالْمُسْلِمِينَ وَيَرْحَمُ اللَّهُ الْمُسْتَقْدِمِينَ مِنَّا وَالْمُسْتَأْخِرِينَ وَإِنَّا إِنْ شَاءَ اللَّهُ بِكُمْ للاحقون ". رَوَاهُ مُسلم

She said she asked Allah's messenger what she should say, i.e. when visiting graves, and he told her to say, “Peace be upon the inhabitants of the abodes, believers and Muslims, and Allah show mercy to those of us who go before and those who go later. If Allah will we shall join you."

Muslim transmitted it.

Mishkat al-Masabih 1767

Chapter 8c: Visiting Graves - Section 3, Book 5: Funerals

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حَدَّثَنَا عَيَّاشٌ، حَدَّثَنَا عَبْدُ الأَعْلَى، حَدَّثَنَا سَعِيدٌ، قَالَ وَقَالَ لِي خَلِيفَةُ حَدَّثَنَا ابْنُ زُرَيْعٍ، حَدَّثَنَا سَعِيدٌ، عَنْ قَتَادَةَ، عَنْ أَنَسٍ ـ رضى الله عنه ـ عَنِ النَّبِيِّ صلى الله عليه وسلم قَالَ ‏ "‏ الْعَبْدُ إِذَا وُضِعَ فِي قَبْرِهِ، وَتُوُلِّيَ وَذَهَبَ أَصْحَابُهُ حَتَّى إِنَّهُ لَيَسْمَعُ قَرْعَ نِعَالِهِمْ، أَتَاهُ مَلَكَانِ فَأَقْعَدَاهُ فَيَقُولاَنِ لَهُ مَا كُنْتَ تَقُولُ فِي هَذَا الرَّجُلِ مُحَمَّدٍ صلى الله عليه وسلم فَيَقُولُ أَشْهَدُ أَنَّهُ عَبْدُ اللَّهِ وَرَسُولُهُ‏.‏ فَيُقَالُ انْظُرْ إِلَى مَقْعَدِكَ مِنَ النَّارِ، أَبْدَلَكَ اللَّهُ بِهِ مَقْعَدًا مِنَ الْجَنَّةِ ـ قَالَ النَّبِيُّ صلى الله عليه وسلم فَيَرَاهُمَا جَمِيعًا ـ وَأَمَّا الْكَافِرُ ـ أَوِ الْمُنَافِقُ ـ فَيَقُولُ لاَ أَدْرِي، كُنْتُ أَقُولُ مَا يَقُولُ النَّاسُ‏.‏ فَيُقَالُ لاَ دَرَيْتَ وَلاَ تَلَيْتَ‏.‏ ثُمَّ يُضْرَبُ بِمِطْرَقَةٍ مِنْ حَدِيدٍ ضَرْبَةً بَيْنَ أُذُنَيْهِ، فَيَصِيحُ صَيْحَةً يَسْمَعُهَا مَنْ يَلِيهِ إِلاَّ الثَّقَلَيْنِ ‏"‏‏.‏

Narrated Sayyiduna Anas رضی اللہ تعالٰی عنہ

The Prophet (ﷺ) said, "When a human being is laid in his grave and his companions return and he even hears their foot steps, two angels come to him and make him sit and ask him: What did you use to say about this man, Muhammad ? He will say: I testify that he is Allah's slave and His Apostle. Then it will be said to him, 'Look at your place in the Hell-Fire. Allah has given you a place in Paradise instead of it.' " The Prophet (ﷺ) added, "The dead person will see both his places. But a non-believer or a hypocrite will say to the angels, 'I do not know, but I used to say what the people used to say! It will be said to him, 'Neither did you know nor did you take the guidance (by reciting the Qur'an).' Then he will be hit with an iron hammer between his two ears, and he will cry and that cry will be heard by whatever approaches him except human beings and jinns."

Sahih al-Bukhari 1338

Chapter 67: A dead person hears the footsteps (of the living), Book 23: Funerals (Al-Janaa'iz)

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وعن بريدة رضي الله عنه قال‏: ‏ كان النبي صلى الله عليه وسلم يعلمهم إذا خرجوا إلى المقابر أن يقول قائلهم‏: ‏ “السلام عليكم أهل الديار من المؤمنين والمسلمين وإنا إن شاء الله بكم للاحقون، أسأل الله لنا ولكم العافية” ‏(‏‏(‏رواه مسلم‏)‏‏)‏‏.‏

Sayyiduna Buraidah (May Allah be pleased with him) reported: The Prophet (ﷺ) used to teach them (i.e., the Companions) whenever they came out to visit the graveyard to say: "As-salamu 'alaikum ahlad-diyyari minal- Mu'minina wal-Muslimina, wa inna in sha' Allahu bikum lahiqun. As 'alul-laha lana wa-lakumul- 'afiyyah (May you be safe, O inmates of the abodes of the believers and the Muslims, and if Allah pleases, we shall follow you, we pray to Allah for well-being for ourselves and for you)." [Muslim].

Riyad as-Salihin 582
Chapter 66: Desirability of visiting the Graves for men, and that they should say, Book: The Book of Miscellany

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حَدَّثَنَا الْقَعْنَبِيُّ، عَنْ مَالِكٍ، عَنِ الْعَلاَءِ بْنِ عَبْدِ الرَّحْمَنِ، عَنْ أَبِيهِ، عَنْ أَبِي هُرَيْرَةَ، أَنَّ رَسُولَ اللَّهِ صلى الله عليه وسلم خَرَجَ إِلَى الْمَقْبَرَةِ فَقَالَ ‏ "‏ السَّلاَمُ عَلَيْكُمْ دَارَ قَوْمٍ مُؤْمِنِينَ وَإِنَّا إِنْ شَاءَ اللَّهُ بِكُمْ لاَحِقُونَ ‏"‏ ‏.‏ ‏.‏

Narrated Sayyiduna Abu Hurairah رضی اللہ تعالٰی عنہ
: The Messenger of Allah (ﷺ) went out to the graveyard and said: Peace be upon you, inhabitants of the dwellings who are of the community of the believers. If Allah wills we shall join you.

Sunan Abi Dawud 3237
Chapter 1212: What To Say When Passing Graves, Book 21: Funerals (Kitab Al-Jana'iz)