Imam Maalik مالك بن أنس بن مالك بن أبي عامر · The Book of Salah

"The first time the Salah was enjoined it was two Rak'ahs, and it remained as such when traveling, but the Salah while resident was made complete."

"The Salah was enjoined on the lips of the Prophet (ﷺ), four Rak'ahs while resident, and two while traveling, and one Rak'ah during times of fear."

"A man asked the Messenger of Allah (ﷺ): 'O Messenger of Allah, how many prayers has Allah enjoined upon His slaves?' He said: 'Allah has enjoined upon His slaves (five) prayers.' He said: 'O Messenger of Allah, is there anything before them or after them?' He said: 'Allah has enjoined upon His salves (five) prayers.' The man swore that he would not do anything more or less than that. The Messenger of Allah (ﷺ) said: 'If he is speaking the…

"I heard Abu Juhaifah say: 'The Messenger of Allah (ﷺ) set off at midday, during the time of intense heat' - (One of the narrators) Ibn Al-Muthanna said, to Al-Batha' - and he performed Wudu', and prayed Zuhr, two Rak'ahs, and 'Asr, two Rak'ahs, with a short spear ('Anzah) in front of him.

"Sa'eed bin Jubair led us in prayer in Jam'. (He prayed) Maghrib, three Rak'ahs with an Iqamah, then he prayed 'Isha', two Rak'ahs. Then he mentioned that 'Abdullah bin 'Umar had done that, and he mentioned that the Messenger of Allah (ﷺ) had done that."

"The Messenger of Allah (ﷺ) used to pray voluntary prayers (Usabbih) while riding his mount, facing whatever direction it was facing, and he would pray Witr likewise, but he would not offer the prescribed prayers on it."

"The Messenger of Allah (ﷺ) used to pray while on his animal when he was coming back from Makkah to Madinah. Concerning this, the verse was revealed: So wherever you turn (yourselves or your faces) there is the Face of Allah.'" Al-Baqarah 2:115.