It was narrated that 'Abdullah said:
"I prayed two rak'ahs with the Messenger of Allah (ﷺ) on a journey, and two rak'ahs with Abu Bakr, and two rak'ahs with 'Umar, may Allah (SWT) be pleased with them both." (ES)
Reference (ES): Sunan an-Nasa'i 1439 (ES)
In-book reference (ES): Book 15, Hadith 7 (ES)
English translation (ES): Vol. 2, Book 15, Hadith 1440 (ES)