Sayyiduna Abu Hurayrah (may Allah be pleased with him) said: The Prophet (peace and blessings be upon him) sent a party of ten men on a scouting mission, and appointed Sayyiduna Asim bin Thabit al-Ansari (may Allah be pleased with him) as their commander, who was the grandfather of Asim bin Amr. (The narrator) related the incident in full.
Hadith Referenceالمعجم الكبير للطبراني / باب العين / 14535