Mukhtasar Muslim

Narrated from Sayyiduna Ali Azdi (may Allah be pleased with him) that Sayyiduna Ibn Umar (may Allah be pleased with them both) taught him that when the Messenger of Allah (peace and blessings be upon him) would mount his camel to set out on a journey, he would say "Allahu Akbar" three times, then recite this supplication: "Glory be to Him Who has subjected this (animal) to us, and we could never have subdued it, and surely to our Lord we are returning." {Az-Zukhruf: 14,13} "O Allah! We ask You for goodness and piety in this journey of ours, and for deeds that please You. O Allah! Make this journey easy for us and shorten its distance for us. O Allah! You are the Companion in the journey and the Guardian over the family. O Allah! I seek refuge with You from the hardships of travel, from having a change of heart and being in a bad predicament, and from an ill-fated return with regard to wealth and family." (He would recite this when setting out) and when returning, he would recite the same supplication, but would add: "We are returning, repenting, worshipping our Lord, and praising Him."