Ibn 'Umar (May Allah be pleased with them) reported:
The Prophet (ﷺ) used to visit Quba', either mounted or on foot and would offer two Rak'ah prayer in the mosque there.[Al-Bukhari and Muslim].Another narration is: The Prophet (ﷺ) used to visit the mosque at Quba' every Saturday (i.e., every week) either mounted or on foot, and Ibn 'Umar (May Allah be pleased with them) used to do the same thing.
Arabic/English book reference: Book 1, Hadith 374