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