Messenger of Allah ﷺ offered a two-rakʿat prayer at Mina. Abu Bakr, ʿUmar and ʿUthman, (during the early years of his caliphate) followed the same practice.  

صَلَّى رَسُولُ اللَّهِ ﷺ بِمِنًى رَكْعَتَيْنِ وَأَبُو بَكْرٍ وَعُمَرُ وَعُثْمَانُ صَدْرًا مِنْ خِلاَفَتِهِ  

The Prophet ﷺ led us in a two-rakʿat prayer at Mina although our number was more than ever and we were in better security than ever.  

صَلَّى بِنَا النَّبِيُّ ﷺ وَنَحْنُ أَكْثَرُ مَا كُنَّا قَطُّ وَآمَنُهُ بِمِنًى رَكْعَتَيْنِ  

I offered (only a) two rakʿat prayer with the Prophet (at Mina), and similarly with Abu Bakr and with ʿUmar, and then you d offered in opinions. Wish that I would be lucky enough to have two of the four rakʿat accepted (by Allah).  

صَلَّيْتُ مَعَ النَّبِيِّ ﷺ رَكْعَتَيْنِ وَمَعَ أَبِي بَكْرٍ ؓ رَكْعَتَيْنِ وَمَعَ عُمَرَ ؓ رَكْعَتَيْنِ ثُمَّ تَفَرَّقَتْ بِكُمُ الطُّرُقُ فَيَا لَيْتَ حَظِّي مِنْ أَرْبَعٍ رَكْعَتَانِ مُتَقَبَّلَتَانِ