It is narrated from Sayyiduna Dhu Mikhmar (may Allah be pleased with him) that he said: I was with the Messenger of Allah (peace and blessings be upon him) on a military expedition. At night we travelled as far as we were to travel, then we halted. The Messenger of Allah (peace and blessings be upon him) came to me and said: "O Dhu Mikhmar!" I said: Here I am, O Messenger of Allah, at your service. He (peace and blessings be upon him) took hold of the head of my she-camel and said: "Sit here, and do not be heedless tonight." So I held the head of the she-camel, but sleep overcame me and I slept, and the she-camel slipped away. I did not wake up until the heat of the sun. The Prophet (peace and blessings be upon him) came to me and said: "O Dhu Mikhmar!" I said: Here I am, O Messenger of Allah, at your service. He (peace and blessings be upon him) said: "By Allah, tonight you were indeed heedless, just as I said." So we moved away from that place, and the Messenger of Allah (peace and blessings be upon him) led us in prayer. When he had finished the prayer, he supplicated that the she-camel be returned, and a whirlwind came driving it along. When the next day came and dawn broke, he ordered Bilal (may Allah be pleased with him), and he gave the adhan; then he ordered him and he gave the iqamah; then he led us in prayer. When he had finished the prayer, he said: "This was our (missed) prayer of yesterday." Then he began that day's (actual) prayer anew.
Hadith Referenceالمعجم الكبير للطبراني / باب الذال / 4213