حَدَّثَنِي يَحْيَى، عَنْ مَالِكٍ، عَنِ ابْنِ شِهَابٍ، عَنْ سَعِيدِ بْنِ الْمُسَيَّبِ، أَنَّ رَسُولَ اللَّهِ صلى الله عليه وسلم حِينَ قَفَلَ مِنْ خَيْبَرَ أَسْرَى حَتَّى إِذَا كَانَ مِنْ آخِرِ اللَّيْلِ عَرَّسَ وَقَالَ لِبِلاَلٍ ‏"‏ اكْلأْلَنَا الصُّبْحَ ‏"‏ ‏.‏ وَنَامَ رَسُولُ اللَّهِ صلى الله عليه وسلم وَأَصْحَابُهُ وَكَلأَ بِلاَلٌ مَا قُدِّرَ لَهُ ثُمَّ اسْتَنَدَ إِلَى رَاحِلَتِهِ وَهُوَ مُقَابِلُ الْفَجْرِ فَغَلَبَتْهُ عَيْنَاهُ فَلَمْ يَسْتَيْقِظْ رَسُولُ اللَّهِ صلى الله عليه وسلم وَلاَ بِلاَلٌ وَلاَ أَحَدٌ مِنَ الرَّكْبِ حَتَّى ضَرَبَتْهُمُ الشَّمْسُ فَفَزِعَ رَسُولُ اللَّهِ صلى الله عليه وسلم فَقَالَ بِلاَلٌ يَا رَسُولَ اللَّهِ أَخَذَ بِنَفْسِي الَّذِي أَخَذَ بِنَفْسِكَ ‏.‏ فَقَالَ رَسُولُ اللَّهِ صلى الله عليه وسلم ‏"‏ اقْتَادُوا ‏"‏ ‏.‏ فَبَعَثُوا رَوَاحِلَهُمْ وَاقْتَادُوا شَيْئًا ثُمَّ أَمَرَ رَسُولُ اللَّهِ صلى الله عليه وسلم بِلاَلاً فَأَقَامَ الصَّلاَةَ فَصَلَّى بِهِمْ رَسُولُ اللَّهِ صلى الله عليه وسلم الصُّبْحَ ثُمَّ قَالَ حِينَ قَضَى الصَّلاَةَ ‏"‏ مَنْ نَسِيَ الصَّلاَةَ فَلْيُصَلِّهَا إِذَا ذَكَرَهَا فَإِنَّ اللَّهَ تَبَارَكَ وَتَعَالَى يَقُولُ فِي كِتَابِهِ ‏{‏أَقِمِ الصَّلاَةَ لِذِكْرِي ‏}‏ ‏"‏ ‏.‏

Yahya related to me from Malik from Ibn Shihab from Said ibn al-Musayyab that the Messenger of Allah, may Allah bless him and granthim peace, travelled by night on the way back from Khaybar.Towards theend of the night he stopped for a rest and told Bilal to stay awake tokeep watch for the subh prayer. The Messenger of Allah, may Allahbless him and grant him peace, and his companions slept. Bilal stayedon guard as long as was decreed for him and then he leant against hisriding camel facing the direction of the dawn and sleep overcame himand neither he nor the Messenger of Allah nor any of the party woke upuntil the sun's rays had struck them. The Messenger of Allah, mayAllah bless him and grant him peace, was alarmed. Bilal excusedhimself, saying, "Messenger of Allah! The One who took your self wasthe One who took myself. "The Messenger of Allah, may Allah bless himand grant him peace, ordered the party to move on and so they rousedthei r mounts and rode on a short distance. The Messenger of Allah,may Allah bless him and grant him peace, ordered Bilal to give theiqama and then led them in the subh prayer. When he had finished hesaid, "Anyone who forgets a prayer should pray it when he remembers.Allah theBlessed and Exalted says in His book, 'Establish the prayerto remember Me.'" Translation Not Available

Book Ref: Muwatta Imam Malik Book 1 Hadith 25
Web Ref:  Muwatta Imam Malik Book 1 Hadith 25