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.
Reference: Sunan Abi Dawud 2782 In-book : Book 15, Hadith 306 English translation : Book 14, Hadith 2776
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