Narrated `Abdullah bin `Umar
Allah's Messenger (ﷺ) offered a two-rak`at prayer at Mina. Abu Bakr, `Umar and `Uthman, (during the early years of his caliphate) followed the same practice.
Narrated Haritha bin Wahab Al-Khuza`i
The Prophet (ﷺ) led us in a two-rak`at prayer at Mina although our number was more than ever and we were in better security than ever.
Narrated `Abdullah bin Mas`ud
I offered (only a) two rak`at prayer with the Prophet (at Mina), and similarly with Abu Bakr and with `Umar, and then you d offered in opinions. Wish that I would be lucky enough to have two of the four rak`at accepted (by Allah).