Sayyiduna Abu Qatadah (may Allah be pleased with him) narrates that one night we were on a journey with the Messenger of Allah (peace and blessings be upon him), and we said: "O Messenger of Allah! Would you permit us to stop and rest?" Then he mentioned the complete hadith about the prayer being missed because of the sleep of the Messenger of Allah (peace and blessings be upon him) and the Companions. In it, the Messenger of Allah (peace and blessings be upon him) said: "Allah Almighty held back your souls for as long as He willed, and released them when He willed." Then he ordered them, and they went out to relieve themselves; then they performed ablution, and the sun had already risen high. Then he led them in prayer.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 3171