The Messenger of Allah ﷺ went out to the cemetery and said, "Peace be upon you, dwelling of a believing people. We will, Allah willing, join you soon."
حدثنا القعنبي عن مالك عن العلاء بن عبد الرحمن عن أبيه
أن رسول الله ﷺ خرج إلى المقبرة فقال السلام عليكم دار قوم مؤمنين وإنا إن شاء الله بكم لاحقون
Muslim narrated it in his chapter on the recommendation of extending the ghurrah and tahjeel in wudu, no. 249, from the hadith of Malik through this chain, and it is found in Muwatta (Yahya), 1/28-30.