The Messenger of Allah ﷺ was on a journey, and the company stopped to rest at night. They slept past the dawn prayer and did not wake until the sun had risen. Once it had climbed and spread its light, he ordered a man to call the adhan, and they prayed the two rakahs. Then, when the time for the regular prayer came, they prayed it.
حدثنا عبد الأعلى عن يونس عن الحسن
أن رسول الله ﷺ كان في مسير فعرسوا فناموا عن صلاة الصبح فلم يستيقظوا حتى طلعت الشمس فلما ارتفعت وانبسطت أمر إنسانا فأذن فصلوا الركعتين فلما حانت الصلاة صلوا
No references are available.
Its isnad is sahih, and the hadith was narrated with similar wording by Bukhari in 1/447, no. 344 of Fath, Muslim in 1/474, no. 682, Nasai in 1/258, no. 623, and Bayhaqi in 2/217.