From Sahih Bukhari (Hadith 1546):
Narrated Anas bin Malik:The Prophet (ﷺ) offered four rak`at in Medina and then two rak`at at Dhul Hulaifa and then passed the night at Dhul-Hulaifa till it was morning and when he mounted his Mount and it stood up, he started to recite Talbiya
Reference: Bukhari 1546