Abu Hurairah reported,

When the Messenger of Allah ﷺ was returning from the expedition of Khaybar, he traveled through the night until, overcome by drowsiness, he stopped to rest. He said to Bilal, "Keep watch over the night for us."Bilal prayed as much as was decreed for him, while the Messenger of Allah ﷺ and his companions slept. As dawn drew near, Bilal leaned against his mount, facing the direction of dawn, but sleep overtook his eyes while he was leaning against his mount. Neither Bilal nor any of his companions woke until the sun's heat struck them. The Messenger of Allah ﷺ was the first of them to awaken, and he was alarmed.He said, "Bilal!"Bilal replied, "The same thing that took hold of you took hold of me, may my father and mother be ransomed for you, Messenger of Allah."He said, "Lead the mounts forward."So they led their mounts a short distance, then the Messenger of Allah ﷺ performed ablution and ordered Bilal to call the iqamah for the prayer. He led them in the dawn prayer.When the Prophet ﷺ finished the prayer, he said, "Whoever forgets a prayer, let him pray it when he remembers it, for Allah has said, 'And establish prayer for My remembrance' [Ta-Ha 20:14]."Ibn Shihab used to recite it as "lil-dhikra."

حدثنا حرملة بن يحيى حدثنا عبد الله بن وهب حدثنا يونس عن ابن شهاب عن سعيد بن المسيب

عن أبي هريرة

أن رسول الله ﷺ حين قفل من غزوة خيبر فسار ليله حتى إذا أدركه الكرى عرس وقال لبلال اكلأ لنا الليل فصلى بلال ما قدر له ونام رسول الله ﷺ وأصحابه فلما تقارب الفجر استند بلال إلى راحلته مواجه الفجر فغلبت بلالا عيناه وهو مستند إلى راحلته فلم يستيقظ بلال ولا أحد من أصحابه حتى ضربتهم الشمس فكان رسول الله ﷺ أولهم استيقاظا ففزع رسول الله ﷺ فقال أي بلال فقال بلال أخذ بنفسي الذي أخذ بنفسك بأبي أنت وأمي يا رسول الله قال اقتادوا فاقتادوا رواحلهم شيئا ثم توضأ رسول الله ﷺ وأمر بلالا فأقام الصلاة فصلى بهم الصبح فلما قضى النبي ﷺ الصلاة قال من نسي صلاة فليصلها إذا ذكرها فإن الله عز وجل قال {وأقم الصلاة لذكري} قال وكان ابن شهاب يقرؤها للذكرى