Dua-On the return journey when entering one's own city recite

آيِبُونَ تَائِبُونَ عَابِدُونَ لِرَبِّنَا حَامِدُونَ
"We are returning, repenting and obedient to Allah, praising Him".

(Hisnul Hisn)
Prophet Mohammad (S.A.W.)'s blessed habit was to return from a journey during chast time within the city. He would first go to the Masjid, perform two rakaats Salaats. Thereafter he would stay in the Masjid for a little while and then go home.

(Bukhari, Muslim)
Prophet Mohammad (S.A.W.) loved to journey on Thursdays.

(Bukhari)