Sayyiduna Ka'b bin Malik (may Allah be pleased with him) said that the Messenger of Allah (peace and blessings be upon him) would return from a journey during the day. When he returned, he would begin with the mosque and pray two rak'ahs in it, then sit down.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الحج / 10378