Kaab bin Malik, one of the three whose repentance Allah accepted, reported that whenever the Messenger of Allah ﷺ returned from a journey, he would begin by going to the mosque, where he would pray two units of voluntary prayer. Then he would conclude with the salutation and sit in his prayer spot, and the people would come to him and greet him.
حدثنا حجاج حدثنا ليث قال حدثني عقيل عن ابن شهاب
أحد الثلاثة الذين تيب عليهم أن كعب بن مالك قال كان رسول الله ﷺ إذا قدم من سفر بدأ بالمسجد فسبح فيه ركعتين ثم سلم فجلس في مصلاه فيأتيه الناس فيسلمون عليه
Its isnad is sahih. Aqeel is Ibn Khalid, the reliable and precise memorizer. The hadith is found in Bukhari 6/193, no. 3088, Fath, in jihad, on prayer upon returning from a journey, and in Muslim 1/496, no. 716, on the prayer of travelers, on the recommendation of two rakahs for one who returns.