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