Aishah said, "The Messenger of Allah ﷺ used to pray in the middle of the bed while I was lying between him and the qiblah. When I needed something, I disliked sitting up and facing him, so I would slip away quietly."
كان رسول الله ﷺ يصلي وسط السرير، وأنا مضطجعة بينه وبين القبلة، تكون لي الحاجة، فأكره أن أقوم فأستقبله، فأنسل انسلالا.
Bukhari reported it in the Book of Seeking Permission (6276), and Muslim in the Book of Prayer (512:270), both of them through the route of Amash, from Abu Duha, from Masruq, from Ayesha, who narrated it. The wording is Bukhari's.