It was narrated from al-Miqdam bin Shuraih, that his father said:
I asked `A’ishah: Tell me about a man among the Companions of the Prophet (ﷺ) whom I can ask about wiping over the khuffain. She said: Go to ‘Ali and ask him, for he stayed close to the Prophet (ﷺ). So I went to ‘Ali (رضي الله عنه) and asked him, and he said: The Messenger of Allah (ﷺ) told us to wipe over our khifaf when we travelled.