Sayyiduna Mu'awiyah bin Abi Sufyan (may Allah be pleased with him) said: I asked my sister Umm Habibah (may Allah be pleased with her) whether the Messenger of Allah (peace and blessings be upon him) used to pray in the same garment in which he (peace and blessings be upon him) had intercourse with her. She said: "Yes, when there was no impurity on it."
Hadith Referenceالمعجم الكبير للطبراني / مسند النساء / 19709