Ibn 'Umar (May Allah be pleased with them) reported:
The Prophet ﷺ used to visit Quba', either mounted or on foot and would offer two Rak'ah prayer in the mosque there.

[Al-Bukhari and Muslim].

Another narration is: The Prophet ﷺ used to visit the mosque at Quba' every Saturday (i.e., every week) either mounted or on foot, and Ibn 'Umar (May Allah be pleased with them) used to do the same thing.

وعن ابن عمر رضي الله عنهما قال: كان النبي ﷺ يزور قباء راكبًا وماشيًا، فيصلي فيه ركعتين، ((متفق عليه)) . وفي رواية: كان النبي ﷺ يأتي مسجد قباء كل سبت راكبًا وماشيًا وكان ابن عمر يفعله .