It is narrated from Sayyiduna Abdullah bin Umar (may Allah be pleased with them both) that the Messenger of Allah (peace and blessings be upon him), Usamah bin Zayd, Bilal and Uthman bin Talhah entered the Ka'bah and shut the door upon themselves. Then when they opened it, I was among the first to enter, and I met Bilal (may Allah be pleased with him). I asked him: Did the Messenger of Allah (peace and blessings be upon him) pray in it? He said: Yes, "He prayed between the two Yemeni pillars."
Hadith Referenceالمعجم الكبير للطبراني / باب الباء / 1051