Sayyiduna Abdullah bin Umar (may Allah be pleased with them both) taught that when the Prophet (peace and blessings be upon him) mounted his camel setting out on a journey, he would say "Allahu akbar" three times, then say: "Glory be to the One who has subjected this to us, and we could not have done it ourselves; and indeed, to our Lord we will surely return." [Surah al-Zukhruf: 13-14] 'Allahumma inna nas'aluka fi safarina hadha al-birra wa al-taqwa, wa min al-amali ma tuhibbu wa tarda. Allahumma hawwin alayna safarana wa-twi anna bu'dahu. Allahumma anta al-sahibu fi al-safar, wa al-khalifatu fi al-ahl. Allahumma inna na'udhu bika min wa'tha'i al-safar, wa ka'abati al-munqalab, wa su'i al-manzari fi al-ahli wa al-mal' (O Allah, on this journey of ours we ask You for righteousness and piety, and for deeds that You love and are pleased with. O Allah, make our journey easy for us and fold up its distance for us. O Allah, You are the Companion on the journey and the Guardian over the family. O Allah, we seek refuge in You from the hardship of travel, the grief of an unhappy return, and an evil sight in family and wealth.) And when he returned, he would say these words and add to them: 'Ayibuna ta'ibuna li-rabbina hamidun' (We are returning, repenting, and praising our Lord.)
(b) In the narration of Ibn Wahb it is: "O Allah, we ask You on this travel of ours," but he did not say "love", and he said: "O Allah, I seek refuge in You from the hardship of travel, the grief of an evil sight, and an unhappy return"; and in it there is the addition: "worshipping, and praising our Lord."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 10316