Urwah bin al-Mughirah bin Shu'bah narrates from his father, Sayyiduna al-Mughirah bin Shu'bah (may Allah be pleased with him), who said: The Messenger of Allah (peace and blessings be upon him) stayed behind, and I stayed behind with him. When he (peace and blessings be upon him) had relieved himself, he said: "Do you have water?" I brought a water vessel, and he (peace and blessings be upon him) washed his face and his hands. Then he (peace and blessings be upon him) began to pull his jubbah back from his forearms, but the sleeve of the jubbah was tight, so he (peace and blessings be upon him) took his hand out of the jubbah, put the jubbah over his shoulders, washed his forearms, and then wiped over his forelock, his turban and his leather socks. Then he (peace and blessings be upon him) mounted, and I mounted too, and we reached the people who were praying. Sayyiduna Abd al-Rahman bin Awf (may Allah be pleased with him) was leading them in prayer, and one rak'ah had already been completed. When he sensed the arrival of the Prophet (peace and blessings be upon him), he began to step back, but he (peace and blessings be upon him) signalled to him, so he himself led the prayer. When he gave the salam, the Prophet (peace and blessings be upon him) stood up, and I stood up too, and we prayed the rak'ah that we had missed.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الصلاة / 5143