It is narrated from Sayyiduna Abu Ayyub (may Allah be pleased with him) that the Messenger of Allah (peace and blessings be upon him) said: "If you did not commit sins, Allah would bring a people who would commit sins, and He would forgive them."
Hadith Referenceالمعجم الكبير للطبراني / باب الخاء / 3977
Sayyiduna Abu Ayyub (may Allah be pleased with him) differed from Marwan bin al-Hakam in his prayer, so Marwan asked him: What leads you to do this? He said: "I saw the Prophet (peace and blessings be upon him) praying in a particular way; if you pray in accordance with it, I will follow you, and if you go against it, I will offer my own prayer and go back home to my family."
Hadith Referenceالمعجم الكبير للطبراني / باب الخاء / 3978