Sayyiduna Ka'b bin Malik (may Allah be pleased with him) said: I took part with the Messenger of Allah (peace and blessings be upon him) in the pledge of al-Aqabah, and I did not stay behind from any expedition in which he (peace and blessings be upon him) took part except the expedition of Badr. And the Messenger of Allah (peace and blessings be upon him) did not blame anyone who stayed behind from Badr, because the Messenger of Allah (peace and blessings be upon him) had only set out intending the caravan of Quraysh. Then (the narrator) went on to narrate the same well-known incident of the three men who stayed behind.
Hadith Referenceالمعجم الكبير للطبراني / باب الكاف / 16142