It was the practice of the Prophet (peace and blessings be upon him):
"When he (peace and blessings be upon him) returned from a journey, the children of his (peace and blessings be upon him) household would come out to receive him (peace and blessings be upon him)."
Hadith Referenceصحیح الجامع الصغیر / حرف الكاف / 4765