Mishkat al-Masabih #2319
Supplications
The Arabic includes the chain of narration (sanad) and the collector's commentary; the English translation shows the Prophet's words only.
وَعَنْهُ أَنَّ النَّبِيَّ صَلَّى اللَّهُ عَلَيْهِ وَسَلَّمَ كَانَ إِذَا كَانَ فِي سَفَرٍ وَأَسْحَرَ يَقُولُ: «سمع سامع يحمد الله وَحسن بلائه علينا وربنا صَاحِبْنَا وَأَفْضِلْ عَلَيْنَا عَائِذًا بِاللَّهِ مِنَ النَّارِ» . رَوَاهُ مُسلم
He said that when the Prophet was on a journey he would say at daybreak, "Let a hearer hear beginning with praise of God and His good favour towards us. Our Lord, accompany us and show favour to us who are seeking refuge in God from hell."
Muslim transmitted it.
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About Mishkat al-Masabih
This hadith is #2319 from Mishkat al-Masabih, in the Book of Supplications.