The Messenger of Allah ﷺ said, "Angels take turns watching over you, some by night and some by day. They gather together at the dawn prayer and the afternoon prayer. Then those who spent the night among you ascend, and Allah asks them, though He knows best about them, 'How did you leave My servants?' They reply, 'We left them while they were praying, and we came to them while they were praying.'"
أن رسول الله ﷺ قال: يتعاقبون فيكم ملائكة بالليل وملائكة بالنهار، ويجتمعون في صلاة الفجر وصلاة العصر، ثم يعرج الذين باتوا فيكم، فيسألهم وهو أعلم بهم، كيف تركتم عبادي؟ فيقولون تركناهم وهم يصلون، وأتيناهم وهم يصلون.
Malik narrated it in Qasr al-Salah (82), from Abu Zinad, from Aaraj, from Abu Hurairah, and he mentioned it.Bukhari narrated it in Mawaqit al-Salah (555), and Muslim in Masajid (632), both of them through the route of Malik, with the same chain.