Hi,
Tefilat haDerech is to be said after one has actually embarked on the road. Ideally, one should halt the vehicle in order to do this, but if this is not possible then it may be said while traveling.
One who realizes mid-trip that he did not recite Tefilat haDerech may still recite it, until the last parsah - the last 72 minutes of the trip.
(Shulchan Aruch Orach Chaim 110:7; Mishneh Berurah 110:22-23, 33)
May we soon see the rebuilding of Yerushalayim,
Mordechai
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