From Sahih Muslim (Hadith 3034):
Abu lshaq said:I asked Zaid b. Arqam: In how many military expeditions have you participated with Allah's Messenger (ﷺ)? He said: In seventeen (expeditions). He (Abu Ishaq) said: Zaid b. Arqam reported to me that Allah's Messenger (ﷺ) had led nineteen expeditions. And he performed Hajj only once after Migration, and that was the Farewell Pilgrimage. Abu Ishaq also said: The second (Hajj) he performed at Mecca (before his Migration to Medina)
Reference: Muslim 3034