Yazid prayed along with the Messenger of Allah ﷺ when he was a young boy. When he (the Prophet) had prayed there were two persons (sitting) in the corner of the mosque; they did not pray (along with the Prophet). He called for them. They were brought trembling (before him). He asked: What prevented you from praying along with us? They replied: We have already prayed in our houses. He said: Do not do so. If any of you prays in his house and finds that the imam has not prayed, he should pray along with him; and that will be a supererogatory prayer for him.  

عَنْ أَبِيهِأَنَّهُ صَلَّى مَعَ رَسُولِ اللَّهِ ﷺ وَهُوَ غُلاَمٌ شَابٌّ فَلَمَّا صَلَّى إِذَا رَجُلاَنِ لَمْ يُصَلِّيَا فِي نَاحِيَةِ الْمَسْجِدِ فَدَعَا بِهِمَا فَجِيءَ بِهِمَا تُرْعَدُ فَرَائِصُهُمَا فَقَالَ مَا مَنَعَكُمَا أَنْ تُصَلِّيَا مَعَنَا قَالاَ قَدْ صَلَّيْنَا فِي رِحَالِنَا فَقَالَ لاَ تَفْعَلُوا إِذَا صَلَّى أَحَدُكُمْ فِي رَحْلِهِ ثُمَّ أَدْرَكَ الإِمَامَ وَلَمْ يُصَلِّ فَلْيُصَلِّ مَعَهُ فَإِنَّهَا لَهُ نَافِلَةٌ  

I said the morning prayer along with the prophet ﷺ at Mina. He narrated the rest of the tradition to the same effect.  

صَلَّيْتُ مَعَ النَّبِيِّ ﷺ الصُّبْحَ بِمِنًى بِمَعْنَاهُ  

I came while the Prophet ﷺ was saying the prayer. I sat down and did not pray along with them. The Messenger of Allah ﷺ turned towards us and saw that Yazid was sitting there. He said: Did you not embrace Islam, Yazid? He replied: Why not, Messenger of Allah; I have embraced Islam. He said: What prevented you from saying prayer along with the people? He replied: I have already prayed in my house, and I thought that you had prayed (in congregation). He said: When you come to pray (in the mosque) and find the people praying, then you should pray along with them, though you have already prayed. This will be a supererogatory prayer for you and that will be counted as obligatory.  

جِئْتُ وَالنَّبِيُّ ﷺ فِي الصَّلاَةِ فَجَلَسْتُ وَلَمْ أَدْخُلْ مَعَهُمْ فِي الصَّلاَةِ قَالَ فَانْصَرَفَ عَلَيْنَا رَسُولُ اللَّهِ ﷺ فَرَأَى يَزِيدَ جَالِسًا فَقَالَ أَلَمْ تُسْلِمْ يَا يَزِيدُ قَالَ بَلَى يَا رَسُولَ اللَّهِ قَدْ أَسْلَمْتُ قَالَ فَمَا مَنَعَكَ أَنْ تَدْخُلَ مَعَ النَّاسِ فِي صَلاَتِهِمْ قَالَ إِنِّي كُنْتُ قَدْ صَلَّيْتُ فِي مَنْزِلِي وَأَنَا أَحْسِبُ أَنْ قَدْ صَلَّيْتُمْ فَقَالَ إِذَا جِئْتَ إِلَى الصَّلاَةِ فَوَجَدْتَ النَّاسَ فَصَلِّ مَعَهُمْ وَإِنْ كُنْتَ قَدْ صَلَّيْتَ تَكُنْ لَكَ نَافِلَةً وَهَذِهِ مَكْتُوبَةً  

if one of us prays in his house, then comes to the mosque and finds that the iqamah is being called, and if I pray along with them ( in congregation), I feel something inside about it. Abu Ayyub replied: We asked the Prophet ﷺ about it. He said: That is a share from the spoils received by the warriors (i.e. he will receive double the reward of the prayer).  

يُصَلِّي أَحَدُنَا فِي مَنْزِلِهِ الصَّلاَةَ ثُمَّ يَأْتِي الْمَسْجِدَ وَتُقَامُ الصَّلاَةُ فَأُصَلِّي مَعَهُمْ فَأَجِدُ فِي نَفْسِي مِنْ ذَلِكَ شَيْئًا فَقَالَ أَبُو أَيُّوبَ سَأَلْنَا عَنْ ذَلِكَ النَّبِيَّ ﷺ فَقَالَ ذَلِكَ لَهُ سَهْمُ جَمْعٍ