It was narrated that 'Abdullah bin Mas'ood (رضي الله عنه) said:

I prayed two rak'ahs with the Messenger of Allah (ﷺ) in Mina, and two rak'ahs with Abu Bakr (رضي الله عنه), and two rak'wits with 'Umar (رضي الله عنه), and I wish that I had of these four rak'ahs two that are accepted.