Sayyiduna Zayd bin Khalid al-Juhani (may Allah be pleased with him) said to Sayyiduna Umar bin al-Khattab (may Allah be pleased with him) concerning the two rak'ahs after Asr: "I will not abandon them, since I have seen the Messenger of Allah (peace and blessings be upon him) offer them."
Hadith Referenceالمعجم الكبير للطبراني / باب الزاي / 5148