It was narrated that Ibn 'Abbas said:
"We used to travel with the Messenger of Allah (ﷺ) between Makkah and Al-Madinah, fearing nothing but Allah, the Mighty and Sublime, and praying two rak'ahs." (AR)
Reference (AR): Sunan an-Nasa'i 1436 (AR)
In-book reference (AR): Book 15, Hadith 4 (AR)
English translation (AR): Vol. 2, Book 15, Hadith 1437 (AR)