Jabir bin Samurah said: Bilal would call the Adhan, then he used come to wait. When he would see that the prophet ﷺ had come out (of his house), he would pronounce the iqama.
Hadith Referenceسنن ابي داود / كتاب الصلاة / 537
Hadith Gradingالألبانی:صحيح | زبیر علی زئی:صحيح مسلم (606)