For the people closest to you
The Qur'an gives the wording for asking mercy for your parents, and for asking that your family be a coolness to your eyes. Both are short enough to say every day.
Loading 17:24 from Quran.com…
Rabbi-rḥamhumā kamā rabbayānī ṣaghīrā
My Lord, be merciful to them both as they raised me when I was small. The Qur'an gives this as the words a grown child says for their parents.
Whenever you think of them, and after they have died. · Qur'an 17:24
Loading 25:74 from Quran.com…
Rabbanā hab lanā min azwājinā wa dhurriyyātinā qurrata aʿyunin wa-jʿalnā lil-muttaqīna imāmā
Our Lord, give us joy in our spouses and our children, and make us a lead for those who are mindful of You.
For your household. · Qur'an 25:74
Many people keep the du'ā for parents after every prayer. It can be said for parents who have passed away as well as those still living.
Every du'ā above can be heard aloud. Where the words are Qur'an, the Arabic comes from the Quran.com API and is shown exactly as served, with a link into the muṣḥaf.