Salaat Ul-Tauba is repentance (tauba) after one has committed act of sinful disobedience. It consists of two rakaats and can be prayed at any permissible time for Namaaz.
After performing Namaaz e Tauba, one should raise hands sincerely and humbly in dua and repent abdundantly. Say repeatedly:
Astaghfirullah-al aazeem-la ilaaha illa huwal hayyuul qayyoom wa atoobu ilaih