كتاب الْمَسَاجِدِ وَمَوَاضِعِ الصَّلاَةِ
5
The Book of Mosques and Places of Prayer
(55)
Chapter: Making up a missed prayer. And it is recommended to hasten to make it up
(55)
باب قَضَاءِ الصَّلاَةِ الْفَائِتَةِ وَاسْتِحْبَابِ تَعْجِيلِ قَضَائِهَا ‏‏
Sahih Muslim 680 b

Abu Huraira reported:

We stopped for rest along with the Messenger of Allah (ﷺ) and did not awake till the sun rose. The Apostle of Allah (ﷺ) then told us that everybody should take hold of his camel's nosestring (get out of this ground) for it was the place where devil had visited us. We did accordingly. He then called for water and performed ablution and then performed two prostrations. Ya'qub said: Then he prayed (performed) two prostrations. then takbir was pronounced for prayer and then he offered the morning prayer (in congregation).
وَحَدَّثَنِي مُحَمَّدُ بْنُ حَاتِمٍ، وَيَعْقُوبُ بْنُ إِبْرَاهِيمَ الدَّوْرَقِيُّ، كِلاَهُمَا عَنْ يَحْيَى، - قَالَ ابْنُ حَاتِمٍ حَدَّثَنَا يَحْيَى بْنُ سَعِيدٍ، - حَدَّثَنَا يَزِيدُ بْنُ كَيْسَانَ، حَدَّثَنَا أَبُو حَازِمٍ، عَنْ أَبِي هُرَيْرَةَ، قَالَ عَرَّسْنَا مَعَ نَبِيِّ اللَّهِ صلى الله عليه وسلم فَلَمْ نَسْتَيْقِظْ حَتَّى طَلَعَتِ الشَّمْسُ فَقَالَ النَّبِيُّ صلى الله عليه وسلم ‏ "‏ لِيَأْخُذْ كُلُّ رَجُلٍ بِرَأْسِ رَاحِلَتِهِ فَإِنَّ هَذَا مَنْزِلٌ حَضَرَنَا فِيهِ الشَّيْطَانُ ‏"‏ ‏.‏ قَالَ فَفَعَلْنَا ثُمَّ دَعَا بِالْمَاءِ فَتَوَضَّأَ ثُمَّ سَجَدَ سَجْدَتَيْنِ - وَقَالَ يَعْقُوبُ ثُمَّ صَلَّى سَجْدَتَيْنِ - ثُمَّ أُقِيمَتِ الصَّلاَةُ فَصَلَّى الْغَدَاةَ ‏.‏
Reference : Sahih Muslim 680 b
In-book reference : Book 5, Hadith 397
USC-MSA web (English) reference : Book 4, Hadith 1449
  (deprecated numbering scheme)