The full text of Ziyarat Ashura can be found online or in Shia prayer books. It begins with salutations upon the Ahl al-Bayt and proceeds to express condolences on the martyrdom of Imam Hussein and his companions.
Peace be upon you, O Abul Abdullah (Imam Hussein). ziyarat ashura full pdf
For those who may not have access to a PDF, here is the translation and transliteration of Ziyarat Ashura: The full text of Ziyarat Ashura can be
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