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.
Sunan an-Nasa'i Book 15, Hadith 3
← Previous Hadith He said to 'Abdullah bin 'Umar: "We find (mention of) prayer when one is at home (i.e., not traveling) and prayer at times of fear in the Qur'an, but we do not find any mention in the Qur'an of prayer when traveling. Ibn Umar said to him: 'O son of my brother, Allah (SWT) send Muhammad (ﷺ) to us when we did not know anything, and all we should do is to do that which we saw Muhammad (ﷺ) doing.'"

Sunan an-Nasa'i Book 15, Hadith 2 Next Hadith → "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."

Sunan an-Nasa'i Book 15, Hadith 4