The last prayer the Messenger of Allah ﷺ performed with the congregation was one in which he prayed in a single garment wrapped around him, standing behind Abu Bakr.
أخبرنا علي بن حجر قال حدثنا إسمعيل قال حدثنا حميد
آخر صلاة صلاها رسول الله ﷺ مع القوم صلى في ثوب واحد متوشحا خلف أبي بكر
[Sahih] Ahmad reported it, 3/159, from the hadith of Ismail bin Jafar, with this same wording. It is also in Al-Kubra, no. 860, and Tirmidhi alluded to it, no. 363. There is a defect in it in Musnad Ahmad, 3/243. The hadith has many corroborating narrations in Tirmidhi and elsewhere, and Tirmidhi said, hasan sahih. See also the hadith that follows.