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
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. (Using translation from Abū Dāʾūd 2782)
أَنَّ رَسُولَ اللهِ ﷺ صَلَّى حِينَ أَقْبَلَ مِنْ حَجَّتِهِ قَافِلًا فِي تِلْكَ الْبَطْحَاءِ قَالَ ثُمَّ دَخَلَ رَسُولُ اللهِ ﷺ الْمَدِينَةَ فَأَنَاخَ عَلَى بَابِ مَسْجِدِهِ ثُمَّ دَخَلَهُ فَرَكَعَ فِيهِ رَكْعَتَيْنِ ثُمَّ انْصَرَفَ إِلَى بَيْتِهِ قَالَ نَافِعٌ فَكَانَ عَبْدُ اللهِ بْنُ عُمَرَ كَذَلِكَ يَصْنَعُ