Saeed bin Musayab reported,

When the Messenger of Allah ﷺ was returning from Khaybar, he travelled through the night, and toward the end of the night he stopped to rest. He said to Bilal, "Keep watch for us for the dawn."The Messenger of Allah ﷺ and his companions slept, and Bilal kept watch as long as he was able. Then he leaned back against his mount, facing the direction of the dawn, and sleep overcame him. Neither the Messenger of Allah ﷺ nor Bilal nor anyone else in the party woke until the sun had struck them. The Messenger of Allah ﷺ awoke startled.Bilal said, "Messenger of Allah, the same thing that took hold of you took hold of me."The Messenger of Allah ﷺ said, "Lead the animals on." So they roused their mounts and moved on a short distance. Then the Messenger of Allah ﷺ instructed Bilal, who called the people to stand for the prayer, and the Messenger of Allah ﷺ led them in the dawn prayer.When he had finished the prayer he said, "Whoever forgets a prayer should pray it as soon as he remembers it, for Allah says in His Book, 'Establish the prayer for My remembrance' [Taha 20:14]."

حدثني يحيى عن مالك عن ابن شهاب

عن سعيد بن المسيب

أن رسول الله ﷺ حين قفل من خيبر أسرى حتى إذا كان من آخر الليل عرس وقال لبلال اكلأ لنا الصبح ونام رسول الله ﷺ وأصحابه وكلأ بلال ما قدر له ثم استند إلى راحلته وهو مقابل الفجر فغلبته عيناه فلم يستيقظ رسول الله ﷺ ولا بلال ولا أحد من الركب حتى ضربتهم الشمس ففزع رسول الله ﷺ فقال بلال يا رسول الله أخذ بنفسي الذي أخذ بنفسك فقال رسول الله ﷺ اقتادوا فبعثوا رواحلهم واقتادوا شيئا ثم أمر رسول الله ﷺ بلالا فأقام الصلاة فصلى بهم رسول الله ﷺ الصبح ثم قال حين قضى الصلاة من نسي الصلاة فليصلها إذا ذكرها فإن الله تبارك وتعالى يقول في كتابه {أقم الصلاة لذكري}