It is narrated from Sayyiduna Jabir bin Abdullah (may Allah be pleased with them both) that Jibril (peace be upon him) came to the Prophet (peace and blessings be upon him) to teach him the prayer. When the sun had declined, Jibril (peace be upon him) stepped forward, the Messenger of Allah (peace and blessings be upon him) was behind him and the people were behind the Messenger of Allah (peace and blessings be upon him), and he led Zuhr. Then he came when the shadow had become equal to a man's height; Jibril (peace be upon him) stepped forward, the Messenger of Allah (peace and blessings be upon him) was behind him and the people were behind the Messenger of Allah (peace and blessings be upon him), and he led Asr. Then he came when the sun had set; Jibril (peace be upon him) stepped forward, the Messenger of Allah (peace and blessings be upon him) was behind him and the people were behind the Messenger of Allah (peace and blessings be upon him), and he led Maghrib. Then he mentioned the rest of the hadith, and in it is that on the second day he came to him (peace and blessings be upon him) at one and the same time, when the sun had set. Jibril (peace be upon him) stepped forward, the Messenger of Allah (peace and blessings be upon him) was behind him and the people were behind the Messenger of Allah (peace and blessings be upon him), and he led Maghrib. And at its end he said: "Between the times of these two (prayers) is the time of prayer." A man asked the Messenger of Allah (peace and blessings be upon him) about the prayer, so he led them in prayer just as Jibril (peace be upon him) had led him, and then said: "Where is the one who asked about the prayer? Between the times of the two (prayers) is the time of prayer."
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 1720