Musnad Abu Ya'la al-Mawsili 110:26

Khalaf narrated to us, Abu al-Ahwas narrated to us, from Simak, from Ikrimah, from Ibn Abbas, who said: When the Messenger of Allah (peace and blessings of Allah be upon him) intended to go out on a journey, he would say: "O Allah, You are the companion in the journey and the successor in the family. O Allah, I seek refuge in You from the hardship of the journey and the gloom of the return. O Allah, shorten the earth for us and make the journey easy for us." And when he intended to return, he would say: "Returning, worshipping, to our Lord praising." And when he entered upon his family, he would say: "Repentant, repentant, to our Lord returning, leaving no sin upon us."