"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." (Using translation from Nasāʾī 1436)
سِرْنَا مَعَ رَسُولِ اللهِ ﷺ بَيْنَ مَكَّةَ وَالْمَدِينَةِ فَصَلَّى رَكْعَتَيْنِ لَا يَخَافُ إِلا اللهَ ﷻ