Differentiable Search Index (DSI) utilizes Pre-trained Language Models (PLMs) for efficient document retrieval without relying on external indexes. However, DSIs need full re-training to handle updates in dynamic corpora, causing significant computational inefficiencies. We introduce PromptDSI, a rehearsal-free, prompt-based approach for instance-wise incremental learning in document retrieval. PromptDSI attaches prompts to the frozen PLM's encoder of DSI, leveraging its powerful representation to efficiently index new corpora while maintaining a balance between stability and plasticity. We eliminate the initial forward pass of prompt-based continual learning methods that doubles training and inference time. Moreover, we propose a topic-aware prompt pool that employs neural topic embeddings as fixed keys. This strategy ensures diverse and effective prompt usage, addressing the challenge of parameter underutilization caused by the collapse of the query-key matching mechanism. Our empirical evaluations demonstrate that PromptDSI matches IncDSI in managing forgetting while significantly enhancing recall by over 4% on new corpora.