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." (DE)
Reference (DE): Sunan an-Nasa'i 1436 (DE)
In-book reference (DE): Book 15, Hadith 4 (DE)
English translation (DE): Vol. 2, Book 15, Hadith 1437 (DE)