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."
Reference: Sunan an-Nasa'i 1439
In-book reference: Book 15, Hadith 7
English translation: Vol. 2, Book 15, Hadith 1440