When the Prophet ﷺ wanted to travel, when he mounted his riding camel, he would say the Takbir three times and say: Glory is to Him Who has subjected this to us, and we were not able to do it. And, surely, to our Lord are we returning (Subḥān alladhī sakh-khara lanā hādhā wa mā kunnā lahū muqrinīn. Wa innā ilā rabbinā lamunqalibūn). Then he would say: “O Allah, I ask You in this journey of mine from the righteousness and piety and actions that which you are pleased with. O Allah, ease for us the path, and make near for us the distance of the land. O Allah, You are the companion in the journey, and the caretaker for the family. O Allah, accompany us in our journey, and take care of our families (Allāhumma innī as’aluka fī safarī hādhā minal-birri wat-taqwā, wa minal-ʿamali mā tarḍā. Allāhumma hawwin ʿalainal-masīra, waṭwi ʿannā buʿdal-arḍ. Allāhumma antaṣ-ṣāḥibu fis safari wal-khalīfatu fil-ahli. Allāhumma aṣḥabnā fī safarinā wakhlufnā fī ahlinā).” And when he would return to his family, he would say: “(We are) Returning, if Allah wills, repenting, worshipping, and to our Lord directing the praise (Ā’ibūna in shā’ Allāh, tā’ibūna ʿābidūna lirabbinā hāmidūn).” (Using translation from Tirmidhī 3447)
أَنَّ رَسُولَ اللَّهِ ﷺ كَانَ إِذَا سَافَرَ فَرَكِبَ رَاحِلَتَهُ كَبَّرَ ثَلَاثًا وَيَقُولُ {سُبْحَانَ الَّذِي سَخَّرَ لَنَا هَذَا وَمَا كُنَّا لَهُ مُقْرِنِينَ وَإِنَّا إِلَى رَبِّنَا لَمُنْقَلِبُونَ} [الزخرف 14] اللَّهُمَّ إِنِّي أَسْأَلُكَ فِي سَفَرِي هَذَا الْبِرَّ وَالتَّقْوَى وَمِنَ الْعَمَلِ مَا تَرْضَى اللَّهُمَّ هَوِّنْ عَلَيْنَا السَّفَرَ وَاطْوِ لَنَا بُعْدَ الْأَرْضِ اللَّهُمَّ أَنْتَ الصَّاحِبُ فِي السَّفَرِ وَالْخَلِيفَةُ فِي الْأَهْلِ اللَّهُمَّ اصْحَبْنَا فِي سَفَرِنَا وَاخْلُفْنَا فِي أَهْلِنَا بِخَيْرٍ