Sayyiduna Yazid bin al-Aswad al-Suwa'i (may Allah be pleased with him) narrates: I performed Hajj with the Prophet (peace and blessings be upon him), and I offered the Fajr prayer behind him at Mina. When he finished the prayer, there were two men behind the people who had not joined the people in the prayer. The Prophet (peace and blessings be upon him) said: "Bring those two to me." The two were brought, and their limbs were trembling. The Prophet (peace and blessings be upon him) said: "Did you two not pray with us?" They said: O Messenger of Allah! We were at our lodgings, and we thought that perhaps we would not reach the prayer (so we offered the prayer at our lodgings). The Prophet (peace and blessings be upon him) said: "Do not do that! When you have prayed at your lodgings and then you find the congregational prayer, join it as well; it will be a voluntary (nafl) prayer for you." One of the two said: O Messenger of Allah! Pray for my forgiveness. The Prophet (peace and blessings be upon him) said: "O Allah! Forgive him." The narrator says: Then the people crowded around the Prophet (peace and blessings be upon him). In those days I was the most youthful and the strongest of men. I made my way through the people and took hold of the hand of the Prophet (peace and blessings be upon him) and placed it on my chest, and I have never seen anything cooler or more fragrant than the blessed hand of the Prophet (peace and blessings be upon him). (Allamah al-Haythami says:) I say: Imam Abu Dawud and Imam al-Tirmidhi recorded this report up to these words: "It will be a voluntary prayer for you."
Imam al-Tabarani recorded it in al-Mu'jam al-Awsat, and in al-Mu'jam al-Kabir in abridged form, and its chain is hasan (good).