أَخْبَرَنَا عُبَيْدُ اللَّهِ بْنُ سَعِيدٍ، قَالَ أَنْبَأَنَا يَحْيَى، عَنْ عُبَيْدِ اللَّهِ، عَنْ نَافِعٍ، عَنِ ابْنِ عُمَرَ، قَالَ صَلَّيْتُ مَعَ النَّبِيِّ صلى الله عليه وسلم بِمِنًى رَكْعَتَيْنِ وَمَعَ أَبِي بَكْرٍ - رضى الله عنه - رَكْعَتَيْنِ وَمَعَ عُمَرَ - رضى الله عنه - رَكْعَتَيْنِ ‏.‏

It was narrated that Ibn 'Umar said: "I prayed two rak'ahs with the Messenger of Allah (PBUH) in Mina, and two rak'ahs with Abu Bakr, may Allah (SWT) be pleased with him, and two rak'ahs with Umar, may Allah (PBUH) be pleased with him." Translation Not Available

Book reference: Sunan An Nisai Book 15 Hadith 1450
Web reference: Sunan An Nisai Volume 2 Book 15 Hadith 1451