Musnad Ahmad 27:884

'Abd al-Rahman narrated to us, Malik narrated to us, from al-Zuhri, from a man from the family of Khalid ibn Usayd, who said: I said to Ibn 'Umar: "We find the prayer of fear in the Qur'an and the prayer of residence, but we do not find the prayer of travel." He said: "Indeed, Allah the Exalted sent Muhammad, may Allah bless him and grant him peace, and we did not know anything. We only do as we saw Muhammad, may Allah bless him and grant him peace, doing."