Sahih Muslim Book 4, Hadith Number 1468.

Chapter : Compensation of the missed prayer and excellence of observing it promptly.

Hafs b. ‘Asim reported: I fell ill and Ibn ‘Umar came to inquire after my health, and I asked him about the glorification of Allah (i.e. prayer) while travelling. Thereupon he said: I accompanied the Messenger of Allah (may peace be upon him) on a journey but I did not see him glorifying Him, and were I to glorify (Him). I would have completed the prayer. Allah, the Exalted, has said: “Verily there is a model pattern for you in the Messenger of Allah.”