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  

"I prayed two rak'ahs with the Messenger of Allah ﷺ in Mina, and with Abu Bakr and 'Umar, and two rak'ahs with 'Uthman at the beginning of his Caliphate." (Using translation from Nasāʾī 1447)   

صَلَّيْتُ مَعَ رَسُولِ اللهِ ﷺ بِمِنًى رَكْعَتَيْنِ وَمَعَ أَبِي بَكْرٍ رَكْعَتَيْنِ وَمَعَ عُمَرَ رَكْعَتَيْنِ وَمَعَ عُثْمَانَ صَدْرًا مِنْ خِلَافَتِهِ ثُمَّ صَلَّاهَا أَرْبَعًا  

"I prayed two rak'ahs with the Messenger of Allah ﷺ in Mina, and with Abu Bakr and 'Umar, and two rak'ahs with 'Uthman at the beginning of his Caliphate." (Using translation from Nasāʾī 1447)   

صَلَّيْتُ مَعَ رَسُولِ اللهِ ﷺ بِمَكَّةَ وَبِمِنًى رَكْعَتَيْنِ وَمَعَ أَبِي بَكْرٍ رَكْعَتَيْنِ وَمَعَ عُمَرَ رَكْعَتَيْنِ وَمَعَ عُثْمَانَ صَدْرًا مِنْ خِلَافَتِهِ رَكْعَتَيْنِ  

His father said: "The Messenger of Allah ﷺ prayed two rak'ahs in Mina, and Abu Bakr prayed two rak'ahs, and Umar prayed two rak'ahs, and Uthman prayed (two rak'ahs) at the beginning of his Khilafah." (Using translation from Nasāʾī 1451)  

«صَلَّى رَسُولُ اللهِ ﷺ بِمِنًى رَكْعَتَيْنِ وَصَلَّاهَا أَبُو بَكْرٍ رَكْعَتَيْنِ وَصَلَّاهَا عُمَرُ رَكْعَتَيْنِ وَصَلَّاهَا عُثْمَانُ صَدْرًا مِنْ خِلَافَتِهِ رَكْعَتَيْنِ»  

[Machine] "The Messenger of Allah ﷺ performed two rak'ahs of prayer in Mina, and Abu Bakr also performed two rak'ahs."  

«صَلَّى رَسُولُ اللهِ ﷺ بِمِنًى رَكْعَتَيْنِ وَصَلَّاهَا أَبُو بَكْرٍ رَكْعَتَيْنِ»  

" عَنِ ابْنِ عُمَرَ قَالَ: صَلَّيْتُ مَعَ رَسُولِ الله ﷺ بِمِنًى رَكعَتَيْنِ، وَمَعَ أَبِى بَكْرٍ رَكْعَتَيْنِ، وَمَعَ عُمَرَ رَكْعَتَيْنِ، وَمَعَ عُثْمَانَ صَدْرًا مِنْ خِلاَفَتِهِ، ثُمَّ صلَّاهَا أَرْبَعًا ".