Ka’ab bin Malik said “The Prophet ﷺ used to arrive from a journey in the daytime. Al Hasan said “During the forenoon.” When he arrived from a journey he went first to the mosque where he prayed two rak’ahs after which he sat in it and gave audience to the people.  

أَنَّ النَّبِيَّ ﷺ كَانَ لاَ يَقْدِمُ مِنْ سَفَرٍ إِلاَّ نَهَارًا قَالَ الْحَسَنُ فِي الضُّحَى فَإِذَا قَدِمَ مِنْ سَفَرٍ أَتَى الْمَسْجِدَ فَرَكَعَ فِيهِ رَكْعَتَيْنِ ثُمَّ جَلَسَ فِيهِ  

When the Messenger of Allah ﷺ arrived from his hajj, he entered Medina, and made (his camel) kneel down at the gate of his mosque; and he entered it and offered two rak'ahs of prayer; he then returned to his home. Nafi' said: Ibn Umar also used to do so.  

أَنَّ رَسُولَ اللَّهِ ﷺ حِينَ أَقْبَلَ مِنْ حَجَّتِهِ دَخَلَ الْمَدِينَةَ فَأَنَاخَ عَلَى بَابِ مَسْجِدِهِ ثُمَّ دَخَلَهُ فَرَكَعَ فِيهِ رَكْعَتَيْنِ ثُمَّ انْصَرَفَ إِلَى بَيْتِهِ قَالَ نَافِعٌ فَكَانَ ابْنُ عُمَرَ كَذَلِكَ يَصْنَعُ