"The Messenger of Allah (ﷺ) used to pray while on his animal when he was coming back from Makkah to Madinah. Concerning this, the verse was revealed: So wherever you turn (yourselves or your faces) there is the Face of Allah.'"

Al-Baqarah 2:115.
Sunan an-Nasa'i Book 5, Hadith 44
← Previous Hadith "The Messenger of Allah (ﷺ) used to pray voluntary prayers (Usabbih) while riding his mount, facing whatever direction it was facing, and he would pray Witr likewise, but he would not offer the prescribed prayers on it."

Sunan an-Nasa'i Book 5, Hadith 43 Next Hadith → "The Messenger of Allah (ﷺ) used to pray on his mount while on a journey, no matter what direction it was facing." Malik said: "Abdullah bin Dinar said: 'And Ibn 'Umar used to do likewise.'"

Sunan an-Nasa'i Book 5, Hadith 45