It is related about Sayyiduna Muslim bin Aslam bin Bujrah al-Ansari (may Allah be pleased with him) that he was an elderly man who used to talk to himself. He would say: Whenever he entered Madinah and fulfilled his need in the market and was about to return to his family, when he took off his cloak he would remember that he had not prayed in the mosque of the Messenger of Allah (peace and blessings be upon him), and he would say: "By Allah, I have not prayed in the mosque of the Messenger of Allah (peace and blessings be upon him), though he (peace and blessings be upon him) said to us: 'Whoever of you comes down to this town, let him not return to his family until he has prayed two rak'ahs in this mosque; then let him return to his family.'"
Hadith Referenceالمعجم الكبير للطبراني / باب الميم / 17104