Sayyiduna Ka'b bin Malik (may Allah be pleased with him) said: When the Messenger of Allah (peace and blessings be upon him) returned from a journey, he would first go to the mosque and pray two voluntary rak'ahs in it, then end the prayer with salam and sit in his place of prayer, and the Muslims would come to him (peace and blessings be upon him) and greet him (peace and blessings be upon him).
Hadith Referenceالمعجم الكبير للطبراني / باب الكاف / 16157