A man from Banu al-Dil states: I went out with my camels to hand them over to the herdsman. I passed by the Prophet (peace and blessings be upon him) while he was leading the people in the Zuhr prayer. I went on and did not pray behind him. When I came back with my camels, this was mentioned to the Prophet (peace and blessings be upon him). He said: "O so-and-so! Why did you not pray with us when you passed by us?" I said: "O Messenger of Allah! I had already prayed in my house." The Prophet (peace and blessings be upon him) said: "Even if (you had already prayed in your house, you should still have prayed with us)."
Imam Ahmad recorded this narration, and its narrators have been declared trustworthy (muwaththaqun).
Hadith Referenceمجمع الزوائد ومنبع الفوائد / كتاب الصلاة / 2173