O God, You called Abraham Your servant out of Ur and kept him safe and sound in all his wanderings. If it is Your will, protect Your servants. Be for us a support when setting out, friendship along the way, a little shade from the sun, a mantle against cold and rain, a crutch on slippery paths, and a haven in shipwreck. Bear us up in fatigue, and defend us under attack. Under Your protection, let us fulfill the purpose for our trip and return safe and sound to our home. Amen

O God, Who did cause the children of Israel to traverse the Red Sea dryshod; Thou Who did point out by a star to the Magi the road that led them to Thee; grant us we beseech Thee, a prosperous journey and propitious weather; so that, under the guidance of Thy holy angels we may safely reach that journey’s end, and later the haven of eternal salvation. 
Hear, O Lord, the prayers of Thy servants. Bless their journeyings. Thou Who art everywhere present, shower everywhere upon them the effects of Thy mercy; so that, insured by Thy protection against all dangers, they may return to offer Thee their thanksgiving. Through Christ our Lord.
Amen.

יְהִי רָצוֹן מִלְפָנֶיךָ יְ-יָ אֱ-לֹהֵינוּ וֵא-לֹהֵי אֲבוֹתֵינוּ. שֶׁתּוֹלִיכֵנוּ לְשָׁלוֹם. וְתַצְעִידֵנוּ לְשָׁלוֹם. וְתַדְרִיכֵנוּ לְשָׁלוֹם. וְתִסְמְכֵנוּ לְשָׁלוֹם. וְתַגִּיעֵנוּ לִמְחוֹז חֶפְצֵנוּ לְחַיִּים וּלְשִׂמְחָה וּלְשָׁלוֹם. (ואם דעתו לחזור

מיד אומר: וְתַחֲזִירֵנוּ לְשָׁלוֹם). וְתַצִילֵנוּ מִכַּף כָּל-אוֹיֵב וְאוֹרֵב וְלִסְטִים וְחַיּוֹת רָעוֹת בַּדֶּרֶך. וּמִכָּל פֻּרְעָנִיּוֹת הַמִּתְרַגְּשׁוֹת וּבָאוֹת לָעוֹלָם. וְתִשְׁלַח בְּרָכָה בְּכָל מַעֲשֵׂה יָדֵינוּ. וְתִתְּנֵנִיּ (בל’ יחיד) לְחֵן וּלְחֶסֶד וּלְרַחֲמִים בְּעֵינֶיךָ וּבְעֵינֵי כָל רוֹאֵינוּ. וְתִגְמְלֵנוּ חֲסָדִים טוֹבִים. וְתִשְׁמַע קוֹל תְּפִלָּתֵינוּ. כִּי אַתָּה שׁוֹמֵעַ תְּפִלַת כָּל פֶּה: בָּרוּךְ אַתָּה יְ-יָ שׁוֹמֵעַ תְּפִלָה:

Translation:

May it be Your will, G-d, our G-d and the G-d of our fathers, that You should lead us in peace and direct our steps in peace, and guide us in peace, and support us in peace, and cause us to reach our destination in life, joy, and peace (If one intends to return immediately, one adds: and return us in peace). Save us from every enemy and ambush, from robbers and wild beasts on the trip, and from all kinds of punishments that rage and come to the world. May You confer blessing upon the work of our hands and grant me grace, kindness, and mercy in Your eyes and in the eyes of all who see us, and bestow upon us abundant kindness and hearken to the voice of our prayer, for You hear the prayers of all. Blessed are You G-d, who hearkens to prayer.

O Almighty and merciful God, who hast commissioned Thy angels to guide and protect us, command them to be our assiduous companions from our setting out until our return; to clothe us with their invisible protection; to keep from us all danger of collision, of fire, of explosion, of fall and bruises, and finally, having preserved us from all evil, and especially from sin, to guide us to our heavenly home. Through Jesus Christ, our Lord. Amen.

God’s Angels guard and keep you
All the way that you must travel
Till earth’s days are past
When blossoms fade and
Time is fleeting fast
In times of purest joy
Or pain and fear
God’s Angels guard
And keep you safe.