Sayyiduna Imran bin Husain (may Allah be pleased with him) narrates: We were traveling with the Prophet (peace and blessings be upon him). When the last part of the night came, we camped. We fell asleep and the heat of the sun woke us up. Everyone, frightened, got up to perform ablution. The Prophet (peace and blessings be upon him) instructed the people, so they performed ablution. Then he ordered Sayyiduna Bilal (may Allah be pleased with him), and he gave the call to prayer (adhan). Then those people performed the two rak‘ahs of Fajr. Then the Prophet (peace and blessings be upon him) ordered Sayyiduna Bilal (may Allah be pleased with him), and he gave the iqamah, so the Prophet (peace and blessings be upon him) led the Fajr prayer. The people said: O Messenger of Allah! We have been negligent. Should we not repeat this prayer at its time tomorrow? The Prophet (peace and blessings be upon him) said: Your Lord forbids you from usury, so will He Himself accept it from you? Negligence occurs while awake.
Hadith Referenceصحیح ابن حبان / كتاب الصلاة / 1461
Hadith Gradingفضيلة الشيخ الإمام محمد ناصر الدين الألبانيصحيح - «صحيح أبي داود» (470): ق دون الركعتين.فضيلة الشيخ العلّامة شُعيب الأرناؤوطحديث صحيح، رجاله رجال الصحيح إلا أن فيه عنعنة الحسن