It was narrated from Ibn 'Abbas that:
The Messenger of Allah (ﷺ) set out from Makkah to Al-Madinah, fearing nothing but the Lord of the worlds, and praying two rak'ahs.
Reference: Sunan an-Nasa'i 1435
In-book reference: Book 15, Hadith 3
English translation: Vol. 2, Book 15, Hadith 1436