“Lokah Samastah Sukhino Bhavantu” (Sanskrit: लोकः समस्ताः सुखिनो भवन्तु)

“May all beings everywhere be happy and free, and may the thoughts, words, and actions of my own life contribute in some way to that happiness and to that freedom for all.”

This is a commonly used mantra in various yoga schools. Wikipedia reports the textual source seems to be stone inscriptions from the Rulers of the Sangama Dynasty (1336 A.D.-1485 A.D.)