The Prophet ﷺ said: "When the believer's soul is taken, the angels of mercy ascend with it. When it reaches the lowest heaven, the gates open and they say: 'Whose soul is this?' They reply with the most beautiful of his names, until they reach the heaven of the Lord, Glorified and Exalted. Then He says: 'Write the book of My servant in 'illiyyīn (the highest abode), and return him to the earth, for from it I created him, and into it I will return him, and from it I will bring him out a second time.'"
Musnad Ahmad 18534 — Narrated by Bara' ibn 'Azib (RA); the famous "soul of the believer" hadith
"Two angels are with each one of you — one on the right and one on the left — recording his deeds."
Recorded in Tafsir Ibn Kathir on this very verse, with multiple authentic chains