It is narrated from Sayyiduna Jabir bin Samurah (may Allah be pleased with him) that Sayyiduna Bilal (may Allah be pleased with him) used to call the adhan after the sun had passed its zenith, and he would not call the iqamah until the Messenger of Allah (peace and blessings be upon him) came out. When he (peace and blessings be upon him) came out, Sayyiduna Bilal (may Allah be pleased with him) would call the iqamah upon seeing him (peace and blessings be upon him).
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 2278