It is narrated from Sayyiduna Yazid bin al-Aswad al-Suwa'i (may Allah be pleased with him) that during the Farewell Hajj he prayed the morning prayer with the Prophet (peace and blessings be upon him) at Mina. When he (peace and blessings be upon him) finished the prayer, he saw two men behind the people who had not prayed with the people. He (peace and blessings be upon him) said: "Bring these two to me." They were brought while their bodies were trembling. He (peace and blessings be upon him) said: "Did you not pray with us?" They said: "O Messenger of Allah, we had prayed in our camp, and we thought that we would not catch the congregational prayer." He (peace and blessings be upon him) said: "Do not do that. When you have prayed in your camp and then find the prayer, pray; it will be a voluntary (nafl) prayer for you." At this, one of them said: "O Messenger of Allah, ask forgiveness for me." He (peace and blessings be upon him) said: "O Allah, forgive him."
Hadith Referenceالمعجم الكبير للطبراني / باب الياء / 18836