It is narrated from Sayyiduna Ibn Abbas (may Allah be pleased with them both) that the Prophet (peace and blessings be upon him) travelled from Makkah to Madinah and prayed two rak'ahs, though he (peace and blessings be upon him) feared no one but Allah.
Hadith Referenceالمعجم الكبير للطبراني / باب العين / 12801