Sunan Ibn Majah Book 5, Hadith 1071

حَدَّثَنَا أَبُو بَكْرِ بْنُ خَلاَّدٍ الْبَاهِلِيُّ، حَدَّثَنَا أَبُو عَامِرٍ، عَنْ عِيسَى بْنِ حَفْصِ بْنِ عَاصِمِ بْنِ عُمَرَ بْنِ الْخَطَّابِ، حَدَّثَنِي أَبِي قَالَ، كَنَّا مَعَ ابْنِ عُمَرَ فِي سَفَرٍ فَصَلَّى بِنَا ثُمَّ انْصَرَفْنَا مَعَهُ وَانْصَرَفَ ‏.‏ قَالَ فَالْتَفَتَ فَرَأَى أُنَاسًا يُصَلُّونَ فَقَالَ مَا يَصْنَعُ هَؤُلاَءِ قُلْتُ يُسَبِّحُونَ ‏.‏ قَالَ لَوْ كُنْتُ مُسَبِّحًا لأَتْمَمْتُ صَلاَتِي يَا ابْنَ أَخِي إِنِّي صَحِبْتُ رَسُولَ اللَّهِ ـ صلى الله عليه وسلم ـ فَلَمْ يَزِدْ عَلَى رَكْعَتَيْنِ فِي السَّفَرِ حَتَّى قَبَضَهُ اللَّهُ ثُمَّ صَحِبْتُ أَبَا بَكْرٍ فَلَمْ يَزِدْ عَلَى رَكْعَتَيْنِ ثُمَّ صَحِبْتُ عُمَرَ فَلَمْ يَزِدْ عَلَى رَكْعَتَيْنِ ثُمَّ صَحِبْتُ عُثْمَانَ فَلَمْ يَزِدْ عَلَى رَكْعَتَيْنِ حَتَّى قَبَضَهُمُ اللَّهُ وَاللَّهُ يَقُولُ ‏{لَقَدْ كَانَ لَكُمْ فِي رَسُولِ اللَّهِ أُسْوَةٌ حَسَنَةٌ ‏}‏ ‏.‏

It was narrated from ‘Isa bin Hafs bin ‘Asim bin ‘Umar bin Khattab that his father told him:“We were with Ibn ‘Umar on a journey, and he led us in prayer. Then we finished with him and he finished turning around, and saw some people praying. He said: ‘What are these people doing?’ I said: ‘Glorifying Allah.’* He said: ‘If I wanted to glorify Allah (perform voluntary prayer) I would have completed my prayer. O son of my brother! I accompanied the Messenger of Allah (ﷺ) and he never prayed more than two Rak’ah when he was traveling, until Allah took his soul. Then I accompanied Abu Bakr and he never prayed more than two Rak’ah (when he was traveling), until Allah took his soul. Then I accompanied ‘Umar and he never prayed more than two Rak’ah, until Allah took his soul. Then I accompanied ‘Uthman and he never prayed more than two Rak’ah, until Allah took his soul. Allah says: ‘Indeed in the Messenger of Allah (Muhammad (ﷺ)) you have a good example to follow.’” [33:21] * Meaning, they were offering voluntary prayer