Abu Darda reported,

The Messenger of Allah ﷺ came out to us with water dripping from his head and led us in prayer wearing a single garment wrapped around himself, with its two ends crossed over each other.When he finished, Umar bin Khattab asked, "Messenger of Allah, you pray with us in a single garment?"He replied, "Yes, I pray in it even after that," meaning he had been intimate with his wife while wearing it.

Ibn Majah 541

Daif

حدثنا هشام بن خالد الأزرق حدثنا الحسن بن يحيى الخشني حدثنا زيد بن واقد عن بسر بن عبيد الله عن أبي إدريس الخولاني

عن أبي الدرداء قال

خرج علينا رسول الله ﷺ ورأسه يقطر ماء فصلى بنا في ثوب واحد متوشحا به قد خالف بين طرفيه فلما انصرف قال عمر بن الخطاب يا رسول الله تصلي بنا في ثوب واحد قال نعم أصلي فيه وفيه أي قد جامعت فيه

ابن ماجه 541ضعيف
Contents
Reference
Commentary
Ayat
Collection
Sunan Ibn Majah
Book
Purification and its sunnahs
Chapter
Prayer in the garment in which one has intercourse
Numbering
Darussalam 541
Ibn Majah 541