Is there a two-rak'ah prayer upon returning from travel, and what is its description?

It is recommended to pray two rak'ahs upon returning from a journey, as this is authentically reported from the Prophet, peace and blessings be upon him, as mentioned by Imam An-Nawawi, Abu Dawud, and others. The jurists have stated that praying upon returning from a journey is among the prayers with a specific cause. These two rak'ahs are like other supererogatory prayers in their recitation and description, so it suffices to recite Al-Fatiha and whatever else is easy from the Qur'an.