Sayyiduna Marwan bin Qays (may Allah be pleased with him) - who had collected the (charity) livestock from his people in the time of the Messenger of Allah (peace and blessings be upon him) - said: A man came to the Messenger of Allah (peace and blessings be upon him) and said: "O Messenger of Allah! My father has died, and he had made it binding upon himself to walk to Makkah and to sacrifice a camel, but he left no wealth. Will it be fulfilled (on his behalf) if we walk for him and sacrifice a camel for him from my own wealth?" The Messenger of Allah (peace and blessings be upon him) said: "Yes, fulfil it for him, sacrifice, and walk. Tell me, if your father owed a debt to a man and you paid it off for him from your own wealth, would that man not go back satisfied? And Allah is more deserving of being satisfied."
Hadith Referenceالمعجم الكبير للطبراني / باب الميم / 17968