Going to welcome returning fighters is Sunnah

Sayyiduna Ibn Zubair (may Allah be pleased with him) said to Sayyiduna Ibn Ja'far (may Allah be pleased with him), "Do you remember when we, you, and Ibn Abbas (may Allah be pleased with them both) went to welcome the Messenger of Allah (peace and blessings of Allah be upon him)?" He said, "Yes (I remember)." Then the Messenger of Allah (peace and blessings of Allah be upon him) made us ride with him (on his mount) and did not make you ride.

Sayyiduna Sa’ib bin Yazid (may Allah be pleased with him) says that we used to go with the boys up to Thaniyyatul Wada’ to welcome the Messenger of Allah (peace and blessings of Allah be upon him).