Massallah pertaining to reading namaaz with iqamah but without azaan

Me and my family had to go out on a journey.Before going, me and my brothers read the zuhr namaz as a congregation. We read zuhr namaz at its beginning time. We only did iqamah but no azan. In such situation are we suppose to do the azaan aswell because no azan had taken place in any of our local masjids?
is that namaz counted as done?