Jabir said that Mu'adh b. Jabal used to pray along with the Prophet, then come and lead his people in prayer. One night he prayed the evening prayer along with the Prophet, then came to his people and led them in prayer, beginning with Sura al-Baqara1. A man turned aside, pronounced the taslim, then prayed alone and departed. The people said to him, “Have you become a hypocrite, so and so?” He replied, I swear by God that I have not, but I shall certainly go to God’s Messenger and tell him.” So he went to him and said, “Messenger of God, we look after camels used for watering and work by day. After having prayed the evening prayer with you, Mu'adh came and began with Sura al-Baqara.” God’s Messenger then approached Mu'adh and said, “Are you a troubler, Mu’adh? Recite, ‘By the sun and its morning brightness,’2 ‘By the morning brightness,’3 ‘By the night when it covers over,’4 and ‘Glorify the name of thy most high Lord’.”5 1. Al-Qur’an; 2 the longest sura in the Qur’an. 2. Al-Qur’an; 91 3. Al-Qur'an; 93. 4. Al-Qur'an; 92. 5. Al-Qur’an; 87. (Bukhari and Muslim.)

“We were with the Messenger of Allah (saw) on a journey, and the sky was overcast so it was difficult for us to determine the Qiblah. So we performed prayer, and we marked the location.* Later, when the sun reappeared, we realized that we had prayed facing a direction other than the Qiblah. We mentioned that to the Prophet (saw), then the Words were revealed: ‘So wherever you turn there is the Face of Allah.’” [2:115]

Muslim has reported from Anas (RA) that he said, "We used to pray two Rak'at after sunset and the Prophet (SAW) used to see us, but he neither commanded nor forbade us."