Sayyiduna Abdullah bin Abbas (may Allah be pleased with them both) says: Whenever the Messenger of Allah (peace and blessings be upon him) intended to set out on a journey, he would recite this supplication: "O Allah! You are the Companion on the journey and the Guardian over the family. O Allah! I seek refuge in You from the hardship of the journey and from grief of heart upon returning. O Allah! Fold up the earth for us and make the journey easy for us." And when he returned, he would say: "We are returning, repenting, worshipping, and praising our Lord." And when he entered upon his family, he would say: "A return, a return, with repentance to our Lord; may He leave no sin remaining upon us."
Hadith Referenceالمعجم الكبير للطبراني / باب العين / 11685