Mishkat al-Masabih, hadith 2315

وَعَنِ ابْنِ عُمَرَ أَنَّ رَسُولَ اللَّهِ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ كَانَ إِذَا اسْتَوَى عَلَى بَعِيرِهِ خَارِجًا إِلَى السَّفَرِ كَبَّرَ ثَلَاثًا ثُمَّ قَالَ: (سُبْحَانَ الَّذِي سَخَّرَ لَنَا هَذَا وَمَا كُنَّا لَهُ مُقْرِنِينَ وَإِنَّا إِلَى رَبِّنَا لَمُنْقَلِبُونَ) اللَّهُمَّ إِنَّا نَسْأَلُكَ فِي سَفَرِنَا هَذَا الْبِرَّ وَالتَّقْوَى وَمِنَ الْعَمَلِ مَا تَرْضَى اللَّهُمَّ هَوِّنْ عَلَيْنَا سَفَرَنَا هَذَا وَاطْوِ لَنَا بُعْدَهُ اللَّهُمَّ أَنْتَ الصَّاحِبُ فِي السَّفَرِ وَالْخَلِيفَةُ فِي الْأَهْلِ وَالْمَالِ اللَّهُمَّ إِنِّي أَعُوذُ بِكَ مِنْ وَعْثَاءِ السَّفَرِ وَكَآبَةِ الْمَنْظَرِ وَسُوءِ الْمُنْقَلَبِ فِي الْمَالِ والأهلِ ". وإِذا رجعَ قالَهنَّ وزادَ فيهِنَّ: «آيِبُونَ تائِبُونَ عابِدُونَ لربِّنا حامدون» . رَوَاهُ مُسلم

Ibn ‘Umar said that when God’s messenger sat on his camel to go out on a journey, he said “God is most great” three times. Then he said, "Glory be to Him who has made this subservient to us, for we had not the strength for it, and to our Lord do we return. O God, we ask Thee in this journey of ours for uprightness, piety and such deeds as are pleasing to Thee. O God, make easy for us this journey of ours and make its length short for us. O God, Thou art the Companion in the journey and the One who looks after the family and the property in our absence. O God, I seek refuge in Thee from the difficulty of travelling, unhappiness in what I see, and finding harm has come when I return to my property and family." When he returned he said these words, adding, "Returning, repentant, serving and praising our Lord." Muslim transmitted it.