Muhammad bin Sirin narrates from Ibn Abbas (may Allah be pleased with them both) that when the Prophet (peace and blessings be upon him) travelled from Madinah to Makkah, he feared no one but Allah, and he (peace and blessings be upon him) would pray two rak'ahs.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 5384