Narrated Abdullah ibn Umar: When the Messenger of Allah (ﷺ) arrived from his hajj, he entered Medina, and made (his camel) kneel down at the gate of his mosque; and he entered it and offered two rak'ahs of prayer; he then returned to his home. Nafi' said: Ibn Umar also used to do so

English translation · Sunan Abu Dawud