The Messenger of Allah (ﷺ) did not come back from the journey but by day in the forenoon, and when he arrived, he went first to the mosque, and having prayed two rak'ahs in it he sat down in it.
Sahih Muslim Book 6, Hadith 89
← Previous Hadith I went with the Messenger of Allah (ﷺ) on an expedition and my camel delayed me and I was exhausted. The Messenger of Allah (ﷺ) thus came earlier than I, whereas I came on the next day and went to the mosque and found him (the Holy Prophet) at the gate of the mosque. He said: It is now that you have come. I said. Yes. He said: Leave your camel and enter (the mosque) and observe two rak'ahs. He (the narrator) said: So I entered and observed (two rak'ahs) of prayer and then went back.

Sahih Muslim Book 6, Hadith 88 Next Hadith → I asked 'A'isha whether the Messenger of Allah (ﷺ) used to observe the forenoon prayer. She said: No, but when he came back from the journey.

Sahih Muslim Book 6, Hadith 90