Sunan Abi dawud:1223 Chapter: The Prayer Of The Traveler Book 4, Hadith 26

Narrated Hafs b. ‘Asim: I accompanied Ibn ‘Umar on the way (on a journey). He led us in two rak’ah’s of (the noon) prayer. Then he proceeded and saw some people standing. He asked: What are they doing ? I replied: They are glorifying Allah (i.e. offering supererogatory prayer). He said: If I had offered the supererogatory prayer (while travelling), I would have completed prayer, my cousin. I accompanied the Messenger of Allah (ﷺ) during the journey, he did not pray more than two raka’at until his death. I also accompanied Abu Bakr, and he prayed two raka’at and nothing more until he died. I also accompanied ‘Umar, and he prayed two raka’at and nothing more until he died. I also accompanied ‘Uthman, and he prayed two raka’at and nothing more until he died. Indeed Allah, the Exalted, said: “Certainly you have in the Messenger of Allah an excellent exemplar”