The Messenger of Allah ﷺ would sit and we would also sit around him. If he got up intending to return, he would take off his sandals or something he was wearing, and his Companions recognising his purpose (that he would return) would stay where they were.
أَبُو الدَّرْدَاءِ كَانَ رَسُولُ اللَّهِ ﷺ إِذَا جَلَسَ وَجَلَسْنَا حَوْلَهُ فَقَامَ فَأَرَادَ الرُّجُوعَ نَزَعَ نَعْلَيْهِ أَوْ بَعْضَ مَا يَكُونُ عَلَيْهِ فَيَعْرِفُ ذَلِكَ أَصْحَابُهُ فَيَثْبُتُونَ
The Messenger of Allah ﷺ would sit and we would also sit around him. If he got up intending to return, he would take off his sandals or something he was wearing, and his Companions recognising his purpose (that he would return) would stay where they were. (Using translation from Abū Dāʾūd 4854)
أَبُو الدَّرْدَاءِ كَانَ رَسُولُ اللهِ ﷺ إِذَا جَلَسَ وَجَلَسْنَا حَوْلَهُ فَقَامَ فَأَرَادَ الرُّجُوعَ نَزَعَ نَعْلَيْهِ أَوْ بَعْضَ مَا يَكُونُ عَلَيْهِ فَيَعْرِفُ ذَلِكَ أَصْحَابُهُ فَيَثْبُتُونَ