Sayyiduna Jabir (may Allah be pleased with him) said regarding the Hajj that in it: Sayyiduna Bilal (may Allah be pleased with him) gave the call to prayer, then the iqamah. The Prophet (peace and blessings be upon him) led the Zuhr prayer, then the iqamah was given and he (peace and blessings be upon him) led the Asr prayer. He (peace and blessings be upon him) did not pray anything between them.
Hadith Referenceالسنن الكبرى للبيهقي / كتاب الجمعة / 5623