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