Is there a prayer called the repentance prayer?

Abu Bakr (may God be pleased with him) said: “I heard the Messenger of God (peace and blessings be upon him) say: “Anyone who commits a sin then purifies himself well and prays two rak’as [cycles of prayer] wherein he asks God for forgiveness, God will forgive him.” He then recited the Quranic verse: “And those who, when they commit an immorality or wrong themselves [by transgression], remember Allah and seek forgiveness for their sins” [3: 135].”
This hadith demonstrates the permissibility of the repentance prayer which is recommended according to the consensus of the four schools of jurisprudence. In addition to the instructions contained in the hadith, it is recommended for a Muslim who commits a sin to perform ablution properly, offer a two rak’a prayer with humility and piety seeking God’s forgiveness, and God the Almighty will forgive him. Furthermore, he must fulfill the conditions of repentance which include regretting having committed the sin and resolving never to commit it again. If the sin is connected with the rights of another person, repentance entails restoring these rights.
And God the Almighty knows best.